root / scout / libscout / src / Behavior.cpp @ a69f6363
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| 1 | cef78c70 | pdeo | /**
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| 2 | * Copyright (c) 2011 Colony Project
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| 3 | *
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| 4 | * Permission is hereby granted, free of charge, to any person
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| 5 | * obtaining a copy of this software and associated documentation
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| 6 | * files (the "Software"), to deal in the Software without
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| 7 | * restriction, including without limitation the rights to use,
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| 8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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| 9 | * copies of the Software, and to permit persons to whom the
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| 10 | * Software is furnished to do so, subject to the following
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| 11 | * conditions:
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| 12 | *
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| 13 | * The above copyright notice and this permission notice shall be
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| 14 | * included in all copies or substantial portions of the Software.
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| 15 | *
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| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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| 23 | * OTHER DEALINGS IN THE SOFTWARE.
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| 24 | c492be62 | Alex Zirbel | */
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| 25 | cef78c70 | pdeo | |
| 26 | /**
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| 27 | * @file Behavior.cpp
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| 28 | c492be62 | Alex Zirbel | * @brief Contains basic functions for the structure of all behaviors.
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| 29 | cef78c70 | pdeo | *
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| 30 | * Contains function implementations needed for all behavior.
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| 31 | *
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| 32 | * @author Colony Project, CMU Robotics Club
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| 33 | * @author Priyanka Deo
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| 34 | c384dc7e | Alex Zirbel | * @author Alex Zirbel
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| 35 | cef78c70 | pdeo | **/
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| 36 | |||
| 37 | #include "Behavior.h" |
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| 38 | |||
| 39 | c384dc7e | Alex Zirbel | using namespace std; |
| 40 | cef78c70 | pdeo | |
| 41 | dcf49526 | Priya | bool Behavior::keep_running;
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| 42 | |||
| 43 | c492be62 | Alex Zirbel | /**
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| 44 | * Constructs a behavior and sets up all control classes.
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| 45 | *
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| 46 | * This constructor is used by all behaviors which inherit the Behavior
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| 47 | * class, so that it is easy to create a behavior with access to ROS
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| 48 | * functionality through the control classes.
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| 49 | *
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| 50 | * @param scoutname If nonempty, specifies which scout in the simulator
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| 51 | * will be controlled by this behavior.
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| 52 | */
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| 53 | d140fd71 | Yuyang | Behavior::Behavior(string scoutname, string my_name, Sensors * sensors) |
| 54 | c384dc7e | Alex Zirbel | {
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| 55 | d140fd71 | Yuyang | name = my_name; |
| 56 | dcf49526 | Priya | keep_running = true;
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| 57 | d140fd71 | Yuyang | sensors->init(&motors, &buttons, &sonar, &encoders, &linesensor, |
| 58 | &wl_sender, &wl_receiver); |
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| 59 | a2b7e8f1 | Priya | wl_receiver->register_callback(std::bind(&Behavior::default_callback, |
| 60 | this, std::placeholders::_1));
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| 61 | |||
| 62 | c384dc7e | Alex Zirbel | loop_rate = new ros::Rate(10); |
| 63 | cef78c70 | pdeo | } |
| 64 | |||
| 65 | c492be62 | Alex Zirbel | /**
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| 66 | a2b7e8f1 | Priya | * Cleans up after a behavior is killed.
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| 67 | */
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| 68 | Behavior::~Behavior() |
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| 69 | {
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| 70 | motors->set_sides(0, 0, MOTOR_ABSOLUTE); |
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| 71 | faa11f08 | Priya | spinOnce(); |
| 72 | a2b7e8f1 | Priya | delete wl_receiver;
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| 73 | delete loop_rate;
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| 74 | } |
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| 75 | |||
| 76 | /**
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| 77 | * Empty callback used as default callback for wireless receiver.
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| 78 | */
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| 79 | void Behavior::default_callback(vector<uint8_t> data)
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| 80 | {
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| 81 | return;
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| 82 | } |
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| 83 | |||
| 84 | /**
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| 85 | c492be62 | Alex Zirbel | * Allows the behavior to check ros::ok(), without being aware of ROS.
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| 86 | */
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| 87 | c384dc7e | Alex Zirbel | bool Behavior::ok()
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| 88 | cef78c70 | pdeo | {
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| 89 | dcf49526 | Priya | return keep_running;
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| 90 | cef78c70 | pdeo | } |
| 91 | |||
| 92 | c492be62 | Alex Zirbel | /**
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| 93 | * Allows the behavior to call ros::spin(), without being aware of ROS.
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| 94 | */
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| 95 | c384dc7e | Alex Zirbel | void Behavior::spin()
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| 96 | cef78c70 | pdeo | {
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| 97 | ros::spin(); |
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| 98 | return;
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| 99 | } |
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| 100 | |||
| 101 | c492be62 | Alex Zirbel | /**
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| 102 | * Allows the behavior to call ros::spinOnce(), without being aware of ROS.
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| 103 | */
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| 104 | c384dc7e | Alex Zirbel | void Behavior::spinOnce()
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| 105 | cef78c70 | pdeo | {
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| 106 | c384dc7e | Alex Zirbel | ros::spinOnce(); |
| 107 | cef78c70 | pdeo | return;
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| 108 | } |