Colony » Colony Scout

#include "BehaviorList.h"

//draw_cw_circle* behavior1 = new draw_cw_circle(scoutname)

BehaviorList::BehaviorList(std::string scoutname)

{

  behavior_list.push_back((Behavior*)new draw_cw_circle(scoutname));

  behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname));

  return;

}

BehaviorList::~BehaviorList()

{

  while((int)behavior_list.size() != 0)

    behavior_list.pop_back();

}

#ifndef _BEHAVIOR_LIST_H_

#define _BEHAVIOR_LIST_H_

#include "Behavior.h"

#include "behaviors/draw_cw_circle.h"

#include "behaviors/draw_ccw_circle.h"

#define NUM_BEHAVIORS 2

#define NUM_SCOUTS 1

class BehaviorList

{

  public:

  std::vector<Behavior*> behavior_list;

  //Constructor. Initializes behavior_list

  BehaviorList(std::string scoutname);

  //Destructor. Frees behavior_list;

  ~BehaviorList();

};

#endif

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file Behavior.cpp

 * @brief A wrapper that executes PriyaBehavior as an executable.

 *

 * Should be auto-generated in the future.

 * 

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 */

#include "BehaviorProcess.h"

int main (int argc, char **argv)

{

    string scoutname = "";

    int behavior_num;

    // Running with no arguments only supports one scout. Check in case

    // the user meant to specify a scout in the arguments.

    if (argc != 3)

    {

        cout << "You have started this behavior in hardware mode." << endl

             << "To start in software mode, use: " << argv[0]

             << " <scoutname> <behavior#>" << endl;

    }

    else

    {

        // Use the provided scoutname for simulator messages

        scoutname = argv[1];

        behavior_num = atoi(argv[2]);

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

        BehaviorList* list = new BehaviorList(scoutname);

        vector<Behavior*> behavior_list = list->behavior_list;

        if (behavior_num < (int)behavior_list.size())

        {

            (behavior_list[behavior_num])->run();

        }

        else

        {

            cout << "There is no behavior number" << behavior_num

              << ". There are only " << (int)behavior_list.size() << "behaviors."

              << endl;

        }

        delete list;

    }

    return 0;

}

#ifndef _BEHAVIOR_PROCESS_

#define _BEHAVIOR_PROCESS_

#include <ros/ros.h>

#include "BehaviorList.h"

using namespace std;

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

#endif

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "draw_ccw_circle.h"

void draw_ccw_circle::run()

{

    while(ok())

    {

        motors->set_sides(80, 20, MOTOR_ABSOLUTE);

        spinOnce();

        loop_rate->sleep();

    }

}

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _DRAW_CCW_CIRCLE_H_

#define _DRAW_CCW_CIRCLE_H_

#include "../Behavior.h"

class draw_ccw_circle : Behavior

{

    public:

        /// @todo Is this the best way to inherit the Behavior constructor?

        draw_ccw_circle(std::string scoutname) : Behavior(scoutname) {};

        /** Actually executes the behavior. */

        void run();

};

#endif

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "draw_cw_circle.h"

void draw_cw_circle::run()

{

    while(ok())

    {

        motors->set_sides(20, 80, MOTOR_ABSOLUTE);

        spinOnce();

        loop_rate->sleep();

    }

}

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _DRAW_CW_CIRCLE_H_

#define _DRAW_CW_CIRCLE_H_

#include "../Behavior.h"

class draw_cw_circle : Behavior

{

    public:

        /// @todo Is this the best way to inherit the Behavior constructor?

        draw_cw_circle(std::string scoutname) : Behavior(scoutname) {};

        /** Actually executes the behavior. */

        void run();

};

#endif