root / scout / libscout / src / BehaviorProcess.cpp @ 8b7d6f99
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1 | d140fd71 | Yuyang | |
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2 | c239584b | Priya | /**
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3 | * Copyright (c) 2011 Colony Project
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4 | *
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5 | * Permission is hereby granted, free of charge, to any person
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6 | * obtaining a copy of this software and associated documentation
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7 | * files (the "Software"), to deal in the Software without
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8 | * restriction, including without limitation the rights to use,
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9 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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10 | * copies of the Software, and to permit persons to whom the
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11 | * Software is furnished to do so, subject to the following
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12 | * conditions:
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13 | *
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14 | * The above copyright notice and this permission notice shall be
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15 | * included in all copies or substantial portions of the Software.
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16 | *
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17 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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18 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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19 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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20 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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21 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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22 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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23 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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24 | * OTHER DEALINGS IN THE SOFTWARE.
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25 | */
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26 | |||
27 | /**
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28 | * @file Behavior.cpp
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29 | * @brief A wrapper that executes PriyaBehavior as an executable.
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30 | *
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31 | * Should be auto-generated in the future.
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * @author Alex Zirbel
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35 | */
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36 | |||
37 | #include "BehaviorProcess.h" |
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38 | d140fd71 | Yuyang | #include "Sensors.h" |
39 | dcf49526 | Priya | #include <assert.h> |
40 | #include <signal.h> |
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41 | |||
42 | // Make the behavior's ok() function return false.
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43 | void sigint_handler(int sig) |
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44 | { |
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45 | Behavior::keep_running = false;
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46 | } |
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47 | c239584b | Priya | |
48 | int main (int argc, char **argv) |
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49 | { |
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50 | string scoutname = ""; |
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51 | int behavior_num;
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52 | 31be19a6 | Priya | string behavior_name = ""; |
53 | c239584b | Priya | |
54 | // Running with no arguments only supports one scout. Check in case
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55 | // the user meant to specify a scout in the arguments.
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56 | c467de4f | Yuyang Guo | if (argc < 2) |
57 | c239584b | Priya | { |
58 | cout << "You have started this behavior in hardware mode." << endl
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59 | << "To start in software mode, use: " << argv[0] |
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60 | c467de4f | Yuyang Guo | << " <behavior#> <scoutname> " << endl;
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61 | c239584b | Priya | } |
62 | else
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63 | { |
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64 | // Use the provided scoutname for simulator messages
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65 | c467de4f | Yuyang Guo | //scoutname = argv[1];
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66 | behavior_num = atoi(argv[1]);
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67 | if (argc == 3) { |
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68 | scoutname = argv[2];
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69 | } |
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70 | c239584b | Priya | |
71 | 2e8030ea | Priya | ros::init(argc, argv, scoutname + "Behavior",
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72 | dcf49526 | Priya | ros::init_options::NoSigintHandler); |
73 | |||
74 | // Initialize the signal handler after initializing rosnode.
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75 | // Otherwise it will be overwritten and you will be sad.
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76 | signal(SIGINT, sigint_handler); |
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77 | |||
78 | d140fd71 | Yuyang | // one Sensor instance per-class
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79 | Sensors* sensors = new Sensors(scoutname);
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80 | faa11f08 | Priya | BehaviorList* list = new BehaviorList();
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81 | vector<behavior_func> behavior_list = list->behavior_list; |
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82 | c239584b | Priya | if (behavior_num < (int)behavior_list.size()) |
83 | { |
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84 | faa11f08 | Priya | Behavior* b = behavior_list[behavior_num](scoutname, sensors); |
85 | b->run(); |
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86 | 679f4e26 | Priya | delete b;
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87 | c239584b | Priya | } |
88 | else
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89 | { |
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90 | cout << "There is no behavior number" << behavior_num
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91 | << ". There are only " << (int)behavior_list.size() << "behaviors." |
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92 | << endl; |
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93 | } |
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94 | |||
95 | delete list;
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96 | 679f4e26 | Priya | delete sensors;
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97 | c239584b | Priya | } |
98 | |||
99 | return 0; |
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100 | } |