Project

General

Profile

Revision faa11f08

IDfaa11f08b06bf7e31069ba66d6bd28a308a5b730

Added by Priya about 11 years ago

Changed it so that all behaviors are not instantiated immediately. Also changed pause so it does not spam (0, 0) motor speeds.

View differences:

scout/libscout/src/Behavior.cpp
66 66 
Behavior::~Behavior()
67 67 
{
68 68 
  motors->set_sides(0, 0, MOTOR_ABSOLUTE);
69 
  ROS_INFO("I get called");
70 
  spinOnce();
71 
  loop_rate->sleep();
69 72 
  delete wl_receiver;
70 73 
  delete loop_rate;
71 74 
}
scout/libscout/src/BehaviorList.cpp
1 1 
#include "BehaviorList.h"
2 2 

  		




  3
  3
  
    

  		




  4
  
  
    
BehaviorList::BehaviorList(std::string scoutname, Sensors * sensor)


  		




  
  4
  
    
BehaviorList::BehaviorList()


  		




  5
  5
  
    
{


  		




  6
  
  
    
  behavior_list.push_back((Behavior*)new pause_scout(scoutname, sensor));


  		




  7
  
  
    
  behavior_list.push_back((Behavior*)new draw_cw_circle(scoutname,sensor));


  		




  8
  
  
    
  behavior_list.push_back((Behavior*)new draw_ccw_circle(scoutname, sensor));


  		




  9
  
  
    
  behavior_list.push_back((Behavior*)new Odometry(scoutname, sensor));


  		




  10
  
  
    
  behavior_list.push_back((Behavior*)new navigationMap(scoutname, sensor));


  		




  11
  
  
    
  behavior_list.push_back((Behavior*)new Scheduler(scoutname, sensor));


  		




  12
  
  
    
  behavior_list.push_back((Behavior*)new WH_Robot(scoutname, sensor));


  		




  13
  
  
    
  behavior_list.push_back((Behavior*)new line_follow(scoutname, sensor));


  		




  14
  
  
    
  behavior_list.push_back((Behavior*)new wl_test(scoutname, sensor));


  		




  15
  
  
    
  behavior_list.push_back((Behavior*)new maze_solve(scoutname, sensor));


  		




  
  6
  
    
  behavior_list.push_back(behavior<pause_scout>);


  		




  
  7
  
    
  behavior_list.push_back(behavior<draw_cw_circle>);


  		




  
  8
  
    
  behavior_list.push_back(behavior<draw_ccw_circle>);


  		




  
  9
  
    
  behavior_list.push_back(behavior<Odometry>);


  		




  
  10
  
    
  behavior_list.push_back(behavior<navigationMap>);


  		




  
  11
  
    
  behavior_list.push_back(behavior<Scheduler>);


  		




  
  12
  
    
  behavior_list.push_back(behavior<WH_Robot>);


  		




  
  13
  
    
  behavior_list.push_back(behavior<line_follow>);


  		




  
  14
  
    
  behavior_list.push_back(behavior<wl_test>);


  		




  
  15
  
    
  behavior_list.push_back(behavior<maze_solve>);


  		




  16
  16
  
    
  return;


  		




  17
  17
  
    
}


  		




  18
  18
  
    

  		












  

    
      scout/libscout/src/BehaviorList.h
    
  





  3
  3
  
    

  		




  4
  4
  
    
#include "Behavior.h"


  		




  5
  5
  
    
#include "behaviors/line_follow.h"


  		




  
  6
  
    
#include "behaviors/priya_draw_name.h"


  		




  6
  7
  
    
#include "behaviors/draw_cw_circle.h"


  		




  7
  8
  
    
#include "behaviors/draw_ccw_circle.h"


  		




  8
  9
  
    
#include "behaviors/Odometry.h"


  		




  ......




  14
  15
  
    
#include "behaviors/maze_solve.h"


  		




  15
  16
  
    
#include "Sensors.h"


  		




  16
  17
  
    

  		




  
  18
  
    
template<typename T> Behavior* behavior(std::string scoutname, Sensors* sensors){ return (Behavior*)new T(scoutname, sensors); } 


  		




  
  19
  
    

  		




  
  20
  
    
typedef Behavior* (* behavior_func)(std::string, Sensors*);


  		




  
  21
  
    

  		




  17
  22
  
    
class BehaviorList


  		




  18
  23
  
    
{


  		




  19
  24
  
    
  public:


  		




  20
  
  
    
  std::vector<Behavior*> behavior_list;


  		




  
  25
  
    
  std::vector<behavior_func> behavior_list;


  		




  21
  26
  
    

  		




  22
  27
  
    
  //Constructor. Initializes behavior_list


  		




  23
  
  
    
  BehaviorList(std::string scoutname, Sensors* sensor);


  		




  
  28
  
    
  BehaviorList();


  		




  24
  29
  
    
  //Destructor. Frees behavior_list;


  		




  25
  30
  
    
  ~BehaviorList();


  		




  26
  31
  
    
};


  		












  

    
      scout/libscout/src/BehaviorProcess.cpp
    
  





  61
  61
  
    
        ros::init(argc, argv, scoutname + "_behavior");


  		




  62
  62
  
    
        // one Sensor instance per-class


  		




  63
  63
  
    
        Sensors* sensors = new Sensors(scoutname);


  		




  64
  
  
    
        BehaviorList* list = new BehaviorList(scoutname, sensors);


  		




  65
  
  
    
        vector<Behavior*> behavior_list = list->behavior_list;


  		




  
  64
  
    
        BehaviorList* list = new BehaviorList();


  		




  
  65
  
    
        vector<behavior_func> behavior_list = list->behavior_list;


  		




  66
  66
  
    
        if (behavior_num < (int)behavior_list.size())


  		




  67
  67
  
    
        {


  		




  68
  
  
    
            (behavior_list[behavior_num])->run();


  		




  
  68
  
    
            Behavior* b = behavior_list[behavior_num](scoutname, sensors);


  		




  
  69
  
    
            b->run();


  		




  69
  70
  
    
        }


  		




  70
  71
  
    
        else


  		




  71
  72
  
    
        {


  		












  

    
      scout/libscout/src/behaviors/pause_scout.cpp
    
  





  27
  27
  
    

  		




  28
  28
  
    
void pause_scout::run()


  		




  29
  29
  
    
{


  		




  30
  
  
    
  while(ok()){


  		




  31
  
  
    
	  motors->set_sides(0, 0, MOTOR_ABSOLUTE);


  		




  32
  
  
    
  }


  		




  
  30
  
    
  motors->set_sides(0, 0, MOTOR_ABSOLUTE);


  		




  
  31
  
    
  spinOnce();


  		




  
  32
  
    
  loop_rate->sleep();


  		




  33
  33
  
    
}


  		












Also available in:  Unified diff