Colony » Colony Scout

/**

 * 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 "ApproachEmitter.h"

#define TOP_BOM 0

#define BOT_BOM 1

using namespace std;

ApproachEmitter::ApproachEmitter(string scoutname, Sensors* sensors)

    : Behavior(scoutname, "Approach Emitter", sensors) {

    name = scoutname;

    scout_pos = new pos;

    // initallize the side index values :D UGLY!!! But best solution so far

    FRONT.push_back(0);

    LEFT.push_back(1);

    LEFT.push_back(2);

    LEFT.push_back(3);

    BACK.push_back(4);

    BACK.push_back(5);

    RIGHT.push_back(6);

    RIGHT.push_back(7);

    RIGHT.push_back(8);

    FRONT.push_back(9);

}

int ApproachEmitter::identifyPosition(

        vector<uint32_t> readings, vector<uint32_t> senders) {

    bool identified = 0;

    int top_em_count = 0;

    int bot_em_count = 0;

    if (accumulate(&(readings[RIGHT.front()]),

                   &(readings[RIGHT.back()])+1, 0) >= 2) {

        for (int i=RIGHT.front(); i<RIGHT.back(); i++) {

            top_em_count += (senders[i] == TOP_BOM);

            bot_em_count += (senders[i] == BOT_BOM);

        }

        if (top_em_count * bot_em_count != 0) {

            //ROS_INFO("HAND OVER TO HUIJUN!");

        } else if (top_em_count > 0) {

            motors->set_sides(-50, -50, MOTOR_PERCENT);

        } else {

            motors->set_sides(50, 50, MOTOR_PERCENT);

        }

        identified = 1;

    } else if (accumulate(&(readings[LEFT.front()]),

                   &(readings[LEFT.back()])+1, 0) >= 2) {

        for (int i=LEFT.front(); i<LEFT.back(); i++) {

            top_em_count += (senders[i] == TOP_BOM);

            bot_em_count += (senders[i] == BOT_BOM);

        }

        if (top_em_count * bot_em_count != 0) {

        } else if (top_em_count > 0) {

            motors->set_sides(50, 50, MOTOR_PERCENT);

        } else {

            motors->set_sides(-50, -50, MOTOR_PERCENT);

        }

        identified = 1;

    }

    return identified;

}

void ApproachEmitter::run() {

    ROS_INFO("BOM Main Running");

    BomReadings bomR;

    vector<uint32_t> r;

    vector<uint32_t> s;

    while (ok()) {

        bomR = bom->query();

        r = bomR.readings;

        s = bomR.senders;

        if (identifyPosition(r, s)) {

            // do nothing

        } else {

            motors->set_sides(0, 50, MOTOR_PERCENT);

        }

    }

    while (ok()) {}

}