root / scout / libscout / src / Behavior.cpp @ fa5ca6e3
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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/**
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* @file Behavior.cpp
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* @brief Contains basic functions for the structure of all behaviors.
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*
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* Contains function implementations needed for all behavior.
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*
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* @author Colony Project, CMU Robotics Club
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* @author Priyanka Deo
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* @author Alex Zirbel
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**/
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#include "Behavior.h" |
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using namespace std; |
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/**
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* Constructs a behavior and sets up all control classes.
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*
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* This constructor is used by all behaviors which inherit the Behavior
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* class, so that it is easy to create a behavior with access to ROS
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* functionality through the control classes.
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*
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* @param scoutname If nonempty, specifies which scout in the simulator
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* will be controlled by this behavior.
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*/
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Behavior::Behavior(string scoutname, string my_name, Sensors * sensors) |
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{ |
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name = my_name; |
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sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
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&wl_sender, &wl_receiver); |
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wl_receiver->register_callback(std::bind(&Behavior::default_callback, |
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this, std::placeholders::_1));
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loop_rate = new ros::Rate(10); |
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} |
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/**
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* Cleans up after a behavior is killed.
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*/
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Behavior::~Behavior() |
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{ |
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motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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ROS_INFO("I get called");
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spinOnce(); |
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loop_rate->sleep(); |
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delete wl_receiver;
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delete loop_rate;
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} |
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/**
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* Empty callback used as default callback for wireless receiver.
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*/
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void Behavior::default_callback(vector<uint8_t> data)
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{ |
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return;
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} |
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/**
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* Allows the behavior to check ros::ok(), without being aware of ROS.
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*/
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bool Behavior::ok()
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{ |
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return ros::ok();
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} |
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/**
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* Allows the behavior to call ros::spin(), without being aware of ROS.
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*/
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void Behavior::spin()
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{ |
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ros::spin(); |
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return;
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} |
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/**
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* Allows the behavior to call ros::spinOnce(), without being aware of ROS.
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*/
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void Behavior::spinOnce()
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{ |
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ros::spinOnce(); |
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return;
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} |