Revision a8480867
| ID | a84808670408804bf5ce08741a3b59130351928f |
Made a lot of changes to the general structure.
Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:
- All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible.
- Instead, the logic is moved to a class (ie MotorControl) in libscout. PID and other tools should be located here. This significantly reduces dependencies.
- Files can be included cross-package by being placed in /include/packagename, but this should be avoided to reduce dependencies.
A few formatting changes:
- Comments should end with / always, not */
- Use @ instead of \
- No double newlines.
The motors node is revamped and pretty much correct at this point.
| scout/libscout/src/libscout.cpp | ||
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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*/ |
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/** |
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* @file libscout.cpp |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Ben Wasserman |
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**/
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*/ |
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#include "libscout.h" |
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/* Global objects */ |
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ros::NodeHandle node; |
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/** \todo Decide how to call user behaviors |
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* I'm thinking that there be a function call in main that calls the "main" |
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fn in the user behavior. However, their "main" function will not be called |
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main. However, this has to be able to point to different functions by |
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changing as little code in this file as possible. Also, the user behaviors |
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should live in a different directory (possibly a different package). |
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However, this other package should not be executed as a separate node, |
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because that is the job of the libscout node/package to handle all the ROS |
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stuff, and keep it under the lid. The user only has to call normal c |
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functions. I also want to reduce the need to recompile this package when the |
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user behavior, or any other package that works below the surface. |
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**/ |
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/** @todo Decide how to call user behaviors |
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* |
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* I'm thinking that there be a function call in main that calls the "main" |
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fn in the user behavior. However, their "main" function will not be called |
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main. However, this has to be able to point to different functions by |
|
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changing as little code in this file as possible. Also, the user behaviors |
|
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should live in a different directory (possibly a different package). |
|
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However, this other package should not be executed as a separate node, |
|
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because that is the job of the libscout node/package to handle all the ROS |
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stuff, and keep it under the lid. The user only has to call normal c |
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functions. I also want to reduce the need to recompile this package when the |
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user behavior, or any other package that works below the surface. |
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*/ |
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/*!
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* \brief Initializes modules in the libscout.
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/**
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* @brief Initializes modules in the libscout.
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* |
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* Calls init functions for each module in libscout. |
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* \param modules A bitmask of the modules that will be initialized. |
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**/ |
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int init(int modules, int argc, char **argv){
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ros::init(argc, argv, "libscout"); |
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* @param modules A bitmask of the modules that will be initialized. |
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*/ |
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int init(int modules, int argc, char **argv) |
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{
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ros::init(argc, argv, "libscout"); |
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ros::NodeHandle node; |
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MotorControl motors = new MotorControl(node); |
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HeadLightControl headlights = new HeadlightControl(node); |
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/** \todo Copy this if for each module that gets added to the library */ |
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if(modules & LIB_MOTORS){
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libmotors_init(); |
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} |
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if(modules & LIB_HEADLIGHTS){
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libheadlights_init(); |
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} |
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if(modules & LIB_BUTTONS){
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libbuttons_init(); |
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} |
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/** \todo Add other lib inits **/ |
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return 0; |
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/** @todo Copy this if for each module that gets added to the library */ |
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/*if(modules & LIB_MOTORS) |
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{
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libmotors_init(); |
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} |
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if(modules & LIB_HEADLIGHTS) |
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{
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libheadlights_init(); |
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} |
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if(modules & LIB_BUTTONS) |
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{
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libbuttons_init(); |
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}*/ |
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/** @todo Add other lib inits **/ |
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return 0; |
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} |
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