HawkExample.C

// File: HawkExample.C
// Author: Josh Villbrandt <josh.villbrandt@usc.edu>
// Date: April 2010

#include "Robots/BeoHawk/computer/HawkExample.H"

// ######################################################################
HawkExample::HawkExample(std::string myName, int argc, char* argv[])
: HawkAgent(myName, argc, argv) {
        // Help section
        helpTitle = "HawkExample";
        helpDescription = "A basic implementation of HawkAgent.";
        helpOptions.push_back("\t--test\t\t(12.3) Try changing this number!");
        
        // Parameters
        double test = loadDoubleParameter("test", 12.3);
        std::cout << "test: " << test << std::endl;
        
        // Set state
        state = INIT;
}

// ######################################################################
void HawkExample::registerTopics() {
        registerPublisher("ExampleMessage");
        registerSubscription("ExampleMessage");
}

// ######################################################################
bool HawkExample::scheduler() {
        if(state == INIT) {
                sendExampleMessageOne();
                return true;
        }
        else if(state == RECEIVED_FIRST_MESSAGE) {
                sendExampleMessageTwo();
                return true;
        }
        
        return false;
}

// ######################################################################
void HawkExample::catchMessage(const HawkMessages::MessagePtr& hawkMessage, const Ice::Current&) {
        if(hawkMessage->ice_isA("::HawkMessages::ExampleMessage"))
        {
                HawkMessages::ExampleMessagePtr msg = HawkMessages::ExampleMessagePtr::dynamicCast(hawkMessage);
                std::cout << "Caught a message! " << msg->name << " says: " << msg->chatter << std::endl;
                
                // Update State / Wake Up Agent
                if(msg->name != itsName && msg->chatter == "Hello?") {
                        state = RECEIVED_FIRST_MESSAGE;
                        wakeUp();
                }
        }
}

// ######################################################################
void HawkExample::sendExampleMessageOne() {
        // Create Message
        HawkMessages::ExampleMessagePtr msg = new HawkMessages::ExampleMessage;
    msg->name = itsName;
    msg->chatter = "Hello?";
    
    // Send Message
        publish("ExampleMessage", msg);
        
        // Update State
        state = WAITING;
}

// ######################################################################
void HawkExample::sendExampleMessageTwo() {
        // Create Message
        HawkMessages::ExampleMessagePtr msg = new HawkMessages::ExampleMessage;
    msg->name = itsName;
    msg->chatter = "O hai! ^_^";
    
    // Send Message
        publish("ExampleMessage", msg);
        
        // Update State
        state = WAITING;
}

// ######################################################################
int main (int argc, char* argv[]) {
        std::cout << "HawkExample: starting..." << std::endl;
        
        HawkExample agent("HawkExample", argc, argv);
        agent.start();
        
        std::cout << "HawkExample: all done!" << std::endl;
}