Revision 73f82b31
highlevel software introlab0 setup
scout/libscout/CMakeLists.txt | ||
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35 | 35 |
set(MAIN_FILES src/Sensors.cpp src/Behavior.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp) |
36 | 36 |
FILE(GLOB BEHAVIOR_FILES "${PROJECT_SOURCE_DIR}/src/behaviors/*.cpp") |
37 | 37 |
FILE(GLOB TEST_BEHAVIOR_FILES "${PROJECT_SOURCE_DIR}/src/test_behaviors/*.cpp") |
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FILE(GLOB INTRO_LAB_FILES "${PROJECT_SOURCE_DIR}/src/introlab/*/*.cpp") |
|
38 | 39 |
FILE(GLOB HELPER_FILES "${PROJECT_SOURCE_DIR}/src/helper_classes/*.cpp") |
39 | 40 |
FILE(GLOB CONTROL_CLASSES "${PROJECT_SOURCE_DIR}/src/*Control.cpp") |
40 | 41 |
set(WIRELESS_CONTROL_CLASSES src/WirelessSender.cpp src/WirelessReceiver.cpp) |
41 | 42 |
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rosbuild_add_executable(libscout ${MAIN_FILES} ${CONTROL_CLASSES} ${WIRELESS_CONTROL_CLASSES} ${HELPER_FILES} ${BEHAVIOR_FILES} ${TEST_BEHAVIOR_FILES}) |
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rosbuild_add_executable(libscout ${MAIN_FILES} ${CONTROL_CLASSES} ${WIRELESS_CONTROL_CLASSES} ${HELPER_FILES} ${BEHAVIOR_FILES} ${TEST_BEHAVIOR_FILES} ${INTRO_LAB_FILES})
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43 | 44 |
rosbuild_add_compile_flags(libscout -std=c++0x) |
scout/libscout/generate_behavior_lists.py | ||
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52 | 52 |
|
53 | 53 |
# Extract all the header files for behaviors we want |
54 | 54 |
for path, dirname, fnames in os.walk('src'): |
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if path == 'src/behaviors' or path == 'src/test_behaviors': |
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if path == 'src/behaviors' or path == 'src/test_behaviors' or path.startswith("src/introlab"):
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56 | 56 |
path_parts = path.split('/') |
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modified_path = path.lstrip("src/") |
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57 | 58 |
for f in fnames: |
58 | 59 |
if f.endswith('.h'): |
59 | 60 |
all_paths.append(path) |
60 | 61 |
all_fnames.append(f) |
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all_lasts.append(path_parts[-1])
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all_lasts.append(modified_path)
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62 | 63 |
|
63 | 64 |
# Sort these headers into a good order and add them to our lists of paths/names |
64 | 65 |
all_fnames, all_paths, all_lasts = (list(t) for t in zip(*sorted(zip(all_fnames, all_paths, all_lasts), key=lambda x: x[0].lower()))) |
scout/libscout/src/introlab/draw_someone_name.cppfake | ||
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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 |
|
7 |
* 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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#include "draw_<someone>_name.h" |
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/** |
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* In here we define the run function which specifies the behavior |
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* that the scout will run. |
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*/ |
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void draw_<someone>_name::turnRight() { |
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Duration one_second(0.954); |
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motors->set_sides(26, -26, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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} |
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void draw_<someone>_name::run() |
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{ |
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/** |
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* This loop runs as long as ROS is ok. This is necessary to make |
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* sure that our program terminates if something is wrong with ROS. |
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* And if not continues to run. |
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*/ |
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Duration half_second(0.5); |
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Duration one_second(1.0); |
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Duration one_point_five(1.5); |
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Duration three_second(3.0); |
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Duration weird_sleep(1.1); |
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while(ok()){ |
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ROS_INFO("hallo!"); |
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/* WRITE YOUR SCOUT BEHAVIOR HERE */ |
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/** |
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* These two functions cause the world to update its |
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* state (spinOnce) and causes us to wait for incoming |
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* messages (loop_rate->sleep). These are necessary for |
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* ROS to do its job. You can think of this as ROS voodoo magic. |
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*/ |
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spinOnce(); |
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loop_rate->sleep(); |
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motors->set_sides(0,0,MOTOR_ABSOLUTE); |
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break; |
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} |
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} |
scout/libscout/src/introlab/misty/draw_misty_name.cpp | ||
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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 |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* 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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15 |
* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* 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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#include "draw_misty_name.h" |
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/** |
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* In here we define the run function which specifies the behavior |
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* that the scout will run. |
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*/ |
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void draw_misty_name::turnRight() { |
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Duration one_second(0.954); |
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motors->set_sides(26, -26, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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} |
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void draw_misty_name::run() |
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{ |
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/** |
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* This loop runs as long as ROS is ok. This is necessary to make |
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* sure that our program terminates if something is wrong with ROS. |
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* And if not continues to run. |
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*/ |
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Duration half_second(0.5); |
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Duration one_second(1.0); |
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Duration one_point_five(1.5); |
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Duration three_second(3.0); |
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Duration weird_sleep(1.1); |
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while(ok()){ |
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one_second.sleep(); |
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// move to a good position |
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turnRight(); |
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turnRight(); |
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motors->set_sides(100, 100, MOTOR_ABSOLUTE); |
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half_second.sleep(); |
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turnRight(); |
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turnRight(); |
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turnRight(); |
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// first edge of M |
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motors->set_sides(100,100, MOTOR_ABSOLUTE); |
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three_second.sleep(); |
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// turn at top left |
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motors->set_sides(30,-30, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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// second edge of M |
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motors->set_sides(100,100, MOTOR_ABSOLUTE); |
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one_point_five.sleep(); |
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// turn at middle |
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motors->set_sides(-30, 30, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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// third edge of M |
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motors->set_sides(100,100, MOTOR_ABSOLUTE); |
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one_point_five.sleep(); |
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// turn at top right |
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motors->set_sides(127,-127, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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// last edge!!! |
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motors->set_sides(100,100, MOTOR_ABSOLUTE); |
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three_second.sleep(); |
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// starting to draw i!!! which should be farely simple!!! |
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motors->set_sides(-100,100, MOTOR_ABSOLUTE); |
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one_point_five.sleep(); |
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motors->set_sides(-20,100, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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one_second.sleep(); |
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motors->set_sides(50, 50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-50, -50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-100, 20, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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one_second.sleep(); |
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// start drawing s |
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motors->set_sides(127,-127, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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weird_sleep.sleep(); |
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motors->set_sides(-50,127, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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motors->set_sides(127, -50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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// come back to s |
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motors->set_sides(-127, 50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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motors->set_sides(50,-127, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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// start drawing t |
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motors->set_sides(100,-100, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-20,100, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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one_second.sleep(); |
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motors->set_sides(50, 50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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// a + at the tip of t |
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//left |
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motors->set_sides(-50,50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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one_point_five.sleep(); |
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motors->set_sides(50,50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-50,-50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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// top |
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motors->set_sides(50,-50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_point_five.sleep(); |
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one_second.sleep(); |
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motors->set_sides(50,50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-50,-50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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// right |
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motors->set_sides(50,-50, MOTOR_ABSOLUTE); |
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one_point_five.sleep(); |
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one_second.sleep(); |
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one_second.sleep(); |
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motors->set_sides(50,50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-50,-50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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// down |
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motors->set_sides(-50,50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_point_five.sleep(); |
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one_second.sleep(); |
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motors->set_sides(-50, -50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-100, 20, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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// start drawing y |
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motors->set_sides(-100, 100, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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one_second.sleep(); |
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one_point_five.sleep(); |
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motors->set_sides(-30, 127, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(50, 50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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215 |
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motors->set_sides(-50,-50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(-127, 70, MOTOR_ABSOLUTE); |
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one_point_five.sleep(); |
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one_point_five.sleep(); |
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motors->set_sides(-50,-50, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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motors->set_sides(110, 110, MOTOR_ABSOLUTE); |
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one_point_five.sleep(); |
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motors->set_sides(100,-40, MOTOR_ABSOLUTE); |
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three_second.sleep(); |
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three_second.sleep(); |
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motors->set_sides(100,100, MOTOR_ABSOLUTE); |
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one_second.sleep(); |
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one_second.sleep(); |
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ROS_INFO("hallo!"); |
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/* WRITE YOUR SCOUT BEHAVIOR HERE */ |
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|
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/** |
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* These two functions cause the world to update its |
|
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* state (spinOnce) and causes us to wait for incoming |
|
243 |
* messages (loop_rate->sleep). These are necessary for |
|
244 |
* ROS to do its job. You can think of this as ROS voodoo magic. |
|
245 |
*/ |
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246 |
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spinOnce(); |
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loop_rate->sleep(); |
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motors->set_sides(0,0,MOTOR_ABSOLUTE); |
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break; |
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} |
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} |
scout/libscout/src/introlab/misty/draw_misty_name.h | ||
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1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
*/ |
|
25 |
|
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26 |
#ifndef _DRAW_MISTY_NAME_H_ |
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27 |
#define _DRAW_MISTY_NAME_H_ |
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28 |
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29 |
#include "../../Behavior.h" |
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30 |
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31 |
/** |
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* The following class inherits the behavior class. This |
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* means that all functions and variables defined |
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34 |
* in the Behavior class also apply to this class. |
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35 |
*/ |
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36 |
class draw_misty_name : Behavior |
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37 |
{ |
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public: |
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39 |
/** |
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40 |
* The following line is the constructor of this class. |
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41 |
* It first calls the Behavior class's constructor with some |
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42 |
* parameters and then does nothing on its own. |
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*/ |
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draw_misty_name(std::string scoutname, Sensors* sensors) |
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: Behavior(scoutname, "draw_misty_name", sensors) {}; |
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/** This is the function that when called actually executes |
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48 |
* the behavior. */ |
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49 |
void run(); |
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private: |
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void turnRight(); |
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}; |
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|
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#endif |
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