Project

General

Profile

Revision c239584b

IDc239584b0640e853b0f2e540d662bd7e354e83c7
Parent 3d642db6
Child ba0d744f

Added by Priya over 9 years ago

New behavior implementation that uses a list of behaviors to command multiple scouts with multiple behaviors.

View differences:

scout/libscout/src/BehaviorList.cpp
1
#include "BehaviorList.h"
2

  
3
//draw_cw_circle* behavior1 = new draw_cw_circle(scoutname)
4

  
5
BehaviorList::BehaviorList(std::string scoutname)
6
{
7
  behavior_list.push_back((Behavior*)new draw_cw_circle(scoutname));
8
  behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname));
9
  return;
10
}
11

  
12
BehaviorList::~BehaviorList()
13
{
14
  while((int)behavior_list.size() != 0)
15
    behavior_list.pop_back();
16
}
scout/libscout/src/BehaviorList.h
1
#ifndef _BEHAVIOR_LIST_H_
2
#define _BEHAVIOR_LIST_H_
3

  
4
#include "Behavior.h"
5
#include "behaviors/draw_cw_circle.h"
6
#include "behaviors/draw_ccw_circle.h"
7

  
8
#define NUM_BEHAVIORS 2
9
#define NUM_SCOUTS 1
10

  
11
class BehaviorList
12
{
13
  public:
14
  std::vector<Behavior*> behavior_list;
15

  
16
  //Constructor. Initializes behavior_list
17
  BehaviorList(std::string scoutname);
18
  //Destructor. Frees behavior_list;
19
  ~BehaviorList();
20
};
21

  
22
#endif
scout/libscout/src/BehaviorProcess.cpp
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

  
26
/**
27
 * @file Behavior.cpp
28
 * @brief A wrapper that executes PriyaBehavior as an executable.
29
 *
30
 * Should be auto-generated in the future.
31
 * 
32
 * @author Colony Project, CMU Robotics Club
33
 * @author Alex Zirbel
34
 */
35

  
36
#include "BehaviorProcess.h"
37

  
38
int main (int argc, char **argv)
39
{
40
    string scoutname = "";
41
    int behavior_num;
42

  
43
    // Running with no arguments only supports one scout. Check in case
44
    // the user meant to specify a scout in the arguments.
45
    if (argc != 3)
46
    {
47
        cout << "You have started this behavior in hardware mode." << endl
48
             << "To start in software mode, use: " << argv[0]
49
             << " <scoutname> <behavior#>" << endl;
50
    }
51
    else
52
    {
53
        // Use the provided scoutname for simulator messages
54
        scoutname = argv[1];
55
        behavior_num = atoi(argv[2]);
56

  
57
        ros::init(argc, argv, "priya_behavior");
58

  
59
        BehaviorList* list = new BehaviorList(scoutname);
60
        vector<Behavior*> behavior_list = list->behavior_list;
61

  
62
        if (behavior_num < (int)behavior_list.size())
63
        {
64
            (behavior_list[behavior_num])->run();
65
        }
66
        else
67
        {
68
            cout << "There is no behavior number" << behavior_num
69
              << ". There are only " << (int)behavior_list.size() << "behaviors."
70
              << endl;
71
        }
72

  
73
        delete list;
74
    }
75

  
76
    return 0;
77
}
scout/libscout/src/BehaviorProcess.h
1
#ifndef _BEHAVIOR_PROCESS_
2
#define _BEHAVIOR_PROCESS_
3

  
4
#include <ros/ros.h>
5
#include "BehaviorList.h"
6

  
7
using namespace std;
8

  
9
  int main(int argc, char** argv);
10

  
11
#endif
scout/libscout/src/behaviors/draw_ccw_circle.cpp
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

  
26
#include "draw_ccw_circle.h"
27

  
28
void draw_ccw_circle::run()
29
{
30
    while(ok())
31
    {
32
        motors->set_sides(80, 20, MOTOR_ABSOLUTE);
33

  
34
        spinOnce();
35
        loop_rate->sleep();
36
    }
37
}
scout/libscout/src/behaviors/draw_ccw_circle.h
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

  
26
#ifndef _DRAW_CCW_CIRCLE_H_
27
#define _DRAW_CCW_CIRCLE_H_
28

  
29
#include "../Behavior.h"
30

  
31
class draw_ccw_circle : Behavior
32
{
33
    public:
34
        /// @todo Is this the best way to inherit the Behavior constructor?
35
        draw_ccw_circle(std::string scoutname) : Behavior(scoutname) {};
36

  
37
        /** Actually executes the behavior. */
38
        void run();
39
};
40

  
41
#endif
scout/libscout/src/behaviors/draw_cw_circle.cpp
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

  
26
#include "draw_cw_circle.h"
27

  
28
void draw_cw_circle::run()
29
{
30
    while(ok())
31
    {
32
        motors->set_sides(20, 80, MOTOR_ABSOLUTE);
33

  
34
        spinOnce();
35
        loop_rate->sleep();
36
    }
37
}
scout/libscout/src/behaviors/draw_cw_circle.h
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

  
26
#ifndef _DRAW_CW_CIRCLE_H_
27
#define _DRAW_CW_CIRCLE_H_
28

  
29
#include "../Behavior.h"
30

  
31
class draw_cw_circle : Behavior
32
{
33
    public:
34
        /// @todo Is this the best way to inherit the Behavior constructor?
35
        draw_cw_circle(std::string scoutname) : Behavior(scoutname) {};
36

  
37
        /** Actually executes the behavior. */
38
        void run();
39
};
40

  
41
#endif

Also available in: Unified diff