scoutos / scout / libscout / src / Behavior.h @ 6d0836d4
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1 | cef78c70 | pdeo | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | c492be62 | Alex Zirbel | */
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25 | cef78c70 | pdeo | |
26 | /**
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27 | * @file Behavior.h
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28 | * @brief Contains declarations for the structure of all behaviours.
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29 | *
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30 | * Contains functions and definitions for a generic behavior.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | * @author Priyanka Deo
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34 | c384dc7e | Alex Zirbel | * @author Alex Zirbel
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35 | cef78c70 | pdeo | **/
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36 | |||
37 | c384dc7e | Alex Zirbel | #ifndef _BEHAVIOR_H_
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38 | cef78c70 | pdeo | #define _BEHAVIOR_H_
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39 | |||
40 | c384dc7e | Alex Zirbel | #include <ros/ros.h> |
41 | 7ac5e9bc | Priya | #include <std_msgs/String.h> |
42 | dcf49526 | Priya | #include <iostream> |
43 | c384dc7e | Alex Zirbel | |
44 | #include "MotorControl.h" |
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45 | #include "HeadlightControl.h" |
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46 | c492be62 | Alex Zirbel | #include "ButtonControl.h" |
47 | c384dc7e | Alex Zirbel | #include "SonarControl.h" |
48 | e1a60f89 | Priya | //#include "CliffsensorControl.h"
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49 | a739cdbd | Alex Zirbel | #include "EncodersControl.h" |
50 | 26258aeb | Alex | #include "LinesensorControl.h" |
51 | 5d0687a9 | Priya | #include "WirelessSender.h" |
52 | #include "WirelessReceiver.h" |
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53 | cc558a8d | Alex Zirbel | #include "constants.h" |
54 | d140fd71 | Yuyang | #include "Sensors.h" |
55 | cef78c70 | pdeo | |
56 | cccc25c9 | Priya | typedef ros::Time Time;
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57 | typedef ros::Duration Duration;
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58 | |||
59 | 4026134b | Alex | #define WAIT_HZ 100 // Frequency of spinOnce() calls in wait() |
60 | |||
61 | cef78c70 | pdeo | class Behavior |
62 | { |
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63 | public:
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64 | c384dc7e | Alex Zirbel | // Initializes ROS for behavior
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65 | d140fd71 | Yuyang | // name stands for behavior name
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66 | Behavior(std::string scoutname, std::string name, |
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67 | Sensors * sensor); |
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68 | cef78c70 | pdeo | |
69 | a2b7e8f1 | Priya | virtual ~Behavior(); |
70 | |||
71 | c492be62 | Alex Zirbel | /// Extended by subclasses to actually run the behavior.
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72 | c384dc7e | Alex Zirbel | virtual void run() = 0; |
73 | cef78c70 | pdeo | |
74 | dc742c14 | Alex | // Name of behaviour
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75 | std::string name; |
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76 | dcf49526 | Priya | |
77 | // Flag to check if sigint recieved.
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78 | static bool keep_running; |
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79 | d140fd71 | Yuyang | |
80 | c384dc7e | Alex Zirbel | protected:
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81 | ros::NodeHandle node; |
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82 | c492be62 | Alex Zirbel | |
83 | /// @todo Should this really be a pointer, or the object itself somehow?
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84 | c384dc7e | Alex Zirbel | ros::Rate *loop_rate; |
85 | cef78c70 | pdeo | |
86 | c384dc7e | Alex Zirbel | // Declare all used library controls
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87 | MotorControl * motors; |
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88 | c492be62 | Alex Zirbel | ButtonControl * buttons; |
89 | SonarControl * sonar; |
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90 | e1a60f89 | Priya | //CliffsensorControl * cliffsensor;
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91 | a739cdbd | Alex Zirbel | EncodersControl * encoders; |
92 | 26258aeb | Alex | LinesensorControl * linesensor; |
93 | 5d0687a9 | Priya | WirelessSender * wl_sender; |
94 | WirelessReceiver * wl_receiver; |
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95 | cef78c70 | pdeo | |
96 | a2b7e8f1 | Priya | // Default callback for wireless receiver.
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97 | void default_callback(std::vector<uint8_t> data);
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98 | |||
99 | c384dc7e | Alex Zirbel | // Wrappers for ROS functions
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100 | dcf49526 | Priya | static bool ok(); |
101 | static void spin(); |
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102 | static void spinOnce(); |
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103 | 4026134b | Alex | |
104 | static void wait(float duration); |
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105 | cef78c70 | pdeo | }; |
106 | |||
107 | #endif |