/**
* Basically only turns on and off the laser for a couple of times.
*/
int main(int argc, char **argv) {
std::cout << "################################################################################" << std::endl;
std::cout << "Run " << NAME << " compiled at time " << __TIME__ << std::endl;
std::cout << "################################################################################" << std::endl;
Scenario scenario;
scenario = SC_GRAND_CHALLENGE1;
// scenario = SC_MAPPING;
// scenario = SC_LASER_EXPLORATION;
std::cout << "We will use scenario " << ScenarioStr[scenario] << std::endl;
CEquids equids;
struct sigaction a;
a.sa_handler = &interrupt_signal_handler;
sigaction(SIGINT, &a, NULL);
if (argc > 1) {
std::cout << "Reading init" << std::endl;
if (!equids.init(argv[1])) {
std::cout << "Wrong configuration file " << argv[1] << std::endl;
return EXIT_FAILURE;
}
std::cout << "Finish init" << std::endl;
} else {
std::cout << "Usage: actionselection jockey_cfg" << std::endl;
return EXIT_FAILURE;
}
bool quit = false;
switch (scenario) {
case SC_BACK_AND_FORTH_TEST: {
BackandforthScenario scenario(&equids);
if (!scenario.Init()) {
std::cerr << "Error in initialization, break out" << std::endl;
break;
}
scenario.Run();
break;
}
case SC_GRAND_CHALLENGE1: {
GrandChallenge1Scenario scenario(&equids);
if (!scenario.Init()) {
std::cerr << "Error in initialization, break out" << std::endl;
break;
}
scenario.Run();
break;
}
case SC_LASER_EXPLORATION: {
LaserExplorationScenario scenario(&equids);
if (!scenario.Init()) {
std::cerr << "Error in initialization, break out" << std::endl;
break;
}
scenario.Run();
break;
}
case SC_MAPPING: {
#ifdef ENABLE_MAPPING_SCENARIO
MappingScenario scenario(&equids);
if (!scenario.Init()) {
std::cerr << "Error in initialization, break out" << std::endl;
break;
}
scenario.Run();
#endif
break;
}
case SC_STANDALONE_CAMERA: {
std::cerr << "To be done" << std::endl;
break;
}
default:
std::cerr << "Unknown scenario" << std::endl;
}
std::cout << "Do quit controllers" << std::endl;
equids.quit();
return 0;
}
