root / scout / libscout / src / libscout.cpp @ 90c7a37c
History | View | Annotate | Download (2.68 KB)
1 | c406f16b | Ben | /**
|
---|---|---|---|
2 | 0121ead7 | bwasserm | * Copyright (c) 2011 Colony Project
|
3 | c406f16b | Ben | *
|
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 | /**
|
||
28 | * @file libscout.cpp
|
||
29 | * @brief Contains top level scout library functions
|
||
30 | *
|
||
31 | * Contains functions and definitions for the use of
|
||
32 | * libscout
|
||
33 | *
|
||
34 | * @author Colony Project, CMU Robotics Club
|
||
35 | 737bb380 | Ben Wasserman | * @author Ben Wasserman
|
36 | c406f16b | Ben | **/
|
37 | |||
38 | #include "libscout.h" |
||
39 | |||
40 | 0121ead7 | bwasserm | /* Global objects */
|
41 | ros::NodeHandle libscout_node; |
||
42 | |||
43 | c406f16b | Ben | /** \todo Decide how to call user behaviors
|
44 | * I'm thinking that there be a function call in main that calls the "main"
|
||
45 | fn in the user behavior. However, their "main" function will not be called
|
||
46 | main. However, this has to be able to point to different functions by
|
||
47 | changing as little code in this file as possible. Also, the user behaviors
|
||
48 | should live in a different directory (possibly a different package).
|
||
49 | However, this other package should not be executed as a separate node,
|
||
50 | because that is the job of the libscout node/package to handle all the ROS
|
||
51 | stuff, and keep it under the lid. The user only has to call normal c
|
||
52 | functions. I also want to reduce the need to recompile this package when the
|
||
53 | user behavior, or any other package that works below the surface.
|
||
54 | **/
|
||
55 | |||
56 | 0121ead7 | bwasserm | /*!
|
57 | * \brief Initializes modules in the libscout.
|
||
58 | *
|
||
59 | * Calls init functions for each module in libscout.
|
||
60 | * \param modules A bitmask of the modules that will be initialized.
|
||
61 | **/
|
||
62 | 737bb380 | Ben Wasserman | int init(int modules, int argc, char **argv){ |
63 | ros::init(argc, argv, "libscout");
|
||
64 | |||
65 | 0121ead7 | bwasserm | /** \todo Copy this if for each module that gets added to the library */
|
66 | c406f16b | Ben | if(modules & LIB_MOTORS){
|
67 | libmotors_init(); |
||
68 | } |
||
69 | 90c7a37c | Ben Wasserman | if(modules & LIB_HEADLIGHTS){
|
70 | libheadlights_init(); |
||
71 | } |
||
72 | c406f16b | Ben | /** \todo Add other lib inits **/
|
73 | return 0; |
||
74 | } |