Revision a2b7e8f1
Registered a default callback for wireless receiver. Also added default virtual constructor.
scout/libscout/src/Behavior.cpp | ||
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54 | 54 |
name = my_name; |
55 | 55 |
sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
56 | 56 |
&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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57 | 60 |
loop_rate = new ros::Rate(10); |
58 | 61 |
} |
59 | 62 |
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60 | 63 |
/** |
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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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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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/** |
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61 | 82 |
* Allows the behavior to check ros::ok(), without being aware of ROS. |
62 | 83 |
*/ |
63 | 84 |
bool Behavior::ok() |
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