[Robotflow-cvs] RobotFlow/Behaviors/src BumperStall.cc,NONE,1.1 Makefile.am,1.18,1.19

[Fernyqc <fe...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Behaviors/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21713

Modified Files:
	Makefile.am 
Added Files:
	BumperStall.cc 
Log Message:
- BumperStall behavior
- Adding BumperStall.cc to the Makefile.am


Index: Makefile.am
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Behaviors/src/Makefile.am,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** Makefile.am	3 Jul 2005 04:35:47 -0000	1.18
--- Makefile.am	4 Jul 2005 06:47:32 -0000	1.19
***************
*** 35,39 ****
  	RangeFashion.cc \
  	SafeVelocityPat.cc \
! 	AvoidPat.cc
  
  libBehaviors_la_LDFLAGS = -release $(LT_RELEASE)
--- 35,40 ----
  	RangeFashion.cc \
  	SafeVelocityPat.cc \
! 	AvoidPat.cc \
! 	BumperStall.cc
  
  libBehaviors_la_LDFLAGS = -release $(LT_RELEASE)

--- NEW FILE: BumperStall.cc ---
/* Copyright (C) 2002 Dominic Letourneau (dom...@co...)

   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.
   
   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.
   
   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/
#ifndef _BUMPER_STALL_CC_
#define _BUMPER_STALL_CC_

#include "Behavior.h"

using namespace std;
using namespace FD;

namespace RobotFlow {

class BumperStall;

DECLARE_NODE(BumperStall)
REGISTER_BEHAVIOR(BumperStall)

/*Node

 * @name BumperStall
 * @category RobotFlow:Behaviors
 * @description No description available
 *
 * @input_name NBBUMPERS
 * @input_type int
 * @input_description Number of bumpers
 *
 * @input_name BUMPERSTATE
 * @input_type int
 * @input_description Global value of the bumpers state
 *
 * @input_name ACTIVATED
 * @input_type bool
 * @input_description Behavior activation
 *
 * @output_name VELOCITY
 * @output_type int
 * @output_description Velocity value
 *
 * @output_name ROTATION
 * @output_type int
 * @output_description Velocity value
 *
 * @output_name EXPLOITATION
 * @output_description Behavior exploitation
 *
 * @parameter_name BEHAVIOR_TYPE
 * @parameter_type int
 * @parameter_value 0
 * @parameter_description Type of action to do on bumper contact
 *
END*/


class BumperStall : public Behavior {
   
  //inputs
  int nbID;
  int stateID;
  
  //outputs
  int rotationID;
  int velocityID;

  //parameters
  int m_type;
  
public:

   BumperStall(string nodeName, ParameterSet params)
   : Behavior(nodeName, params, "BumperStall")  {

     //inputs
     nbID    = addInput("NBBUMPERS");
     stateID = addInput("BUMPERSTATE");
     
     //outputs
     rotationID = addOutput("ROTATION");
     velocityID = addOutput("VELOCITY");

     // Parameters
     m_type = dereference_cast<int> (parameters.get("BEHAVIOR_TYPE"));

   }

   void calculate_behavior(int output_id, int count, Buffer &out) {

     ObjectRef nbRef = getInput(nbID,count);
     ObjectRef stateRef = getInput(stateID,count);
         
     if (!nbRef->isNil() && !stateRef->isNil()){
         
         // Get inputs
         int nb = dereference_cast<int>(nbRef);
         int state = dereference_cast<int>(stateRef);
         
         // Apply selected behavior
         bool nilOutputs = true;
         int rotation = 0;
         int velocity = 0; 
         switch(m_type){
            case 0: 
                // Stall the robot if a bumper is pressed
                nilOutputs = (state == 0); 
                break;
            default: std::cout << "BumperStall -> Unknown behavior type" << std::endl;
         }

         // Outputs the results
         if(nilOutputs){
             (*outputs[velocityID].buffer)[count] = nilObject;
             (*outputs[rotationID].buffer)[count] = nilObject;
         }
         else{
             (*outputs[velocityID].buffer)[count] = ObjectRef(Int::alloc(velocity));
             (*outputs[rotationID].buffer)[count] = ObjectRef(Int::alloc(rotation));
         }
     }
     else {
       //invalid outputing nothing
       (*outputs[velocityID].buffer)[count] = nilObject;
       (*outputs[rotationID].buffer)[count] = nilObject;
     }
  
   }//calculate_behavior
  
};

}//namespace RobotFlow
#endif