root / scout / libscout / src / Behavior.h @ af7e0f94
History | View | Annotate | Download (2.9 KB)
1 |
/**
|
---|---|
2 |
* Copyright (c) 2011 Colony Project
|
3 |
*
|
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 |
* @file Behavior.h
|
28 |
* @brief Contains declarations for the structure of all behaviours.
|
29 |
*
|
30 |
* Contains functions and definitions for a generic behavior.
|
31 |
*
|
32 |
* @author Colony Project, CMU Robotics Club
|
33 |
* @author Priyanka Deo
|
34 |
* @author Alex Zirbel
|
35 |
**/
|
36 |
|
37 |
#ifndef _BEHAVIOR_H_
|
38 |
#define _BEHAVIOR_H_
|
39 |
|
40 |
#include <ros/ros.h> |
41 |
#include <std_msgs/String.h> |
42 |
|
43 |
#include "MotorControl.h" |
44 |
#include "HeadlightControl.h" |
45 |
#include "ButtonControl.h" |
46 |
#include "SonarControl.h" |
47 |
//#include "CliffsensorControl.h"
|
48 |
#include "EncodersControl.h" |
49 |
#include "LinesensorControl.h" |
50 |
#include "WirelessSender.h" |
51 |
#include "WirelessReceiver.h" |
52 |
#include "constants.h" |
53 |
#include "Sensors.h" |
54 |
|
55 |
typedef ros::Time Time;
|
56 |
typedef ros::Duration Duration;
|
57 |
|
58 |
class Behavior |
59 |
{ |
60 |
public:
|
61 |
// Initializes ROS for behavior
|
62 |
// name stands for behavior name
|
63 |
Behavior(std::string scoutname, std::string name, |
64 |
Sensors * sensor); |
65 |
|
66 |
virtual ~Behavior(); |
67 |
|
68 |
/// Extended by subclasses to actually run the behavior.
|
69 |
virtual void run() = 0; |
70 |
|
71 |
// Name of behaviour
|
72 |
std::string name; |
73 |
|
74 |
protected:
|
75 |
ros::NodeHandle node; |
76 |
|
77 |
/// @todo Should this really be a pointer, or the object itself somehow?
|
78 |
ros::Rate *loop_rate; |
79 |
|
80 |
// Declare all used library controls
|
81 |
MotorControl * motors; |
82 |
ButtonControl * buttons; |
83 |
SonarControl * sonar; |
84 |
//CliffsensorControl * cliffsensor;
|
85 |
EncodersControl * encoders; |
86 |
LinesensorControl * linesensor; |
87 |
WirelessSender * wl_sender; |
88 |
WirelessReceiver * wl_receiver; |
89 |
|
90 |
// Default callback for wireless receiver.
|
91 |
void default_callback(std::vector<uint8_t> data);
|
92 |
|
93 |
// Wrappers for ROS functions
|
94 |
bool ok();
|
95 |
void spin();
|
96 |
void spinOnce();
|
97 |
}; |
98 |
|
99 |
#endif
|