int main(int argc, char** argv)
{
std::cout << "Hello, world!" << std::endl;
// setup signal interrupt handler
signal(SIGINT, signal_callback_handler);
// specify which options are available as cmd line arguments
setupCmdLineReader();
// read agent id from command line parameters (--agent=mario)
agent = readAgentFromCmdLine(argc, argv);
// initialize the behavior tree client node
ros::init(argc, argv, std::string("behavior_tree") + "_" + agent);
// initialize OpenGL engine for visualization
glut_setup(argc, argv);
// point to the root of the behavior tree
node_cursor = node = &root;
node_cursor->set_highlighted(true);
// create the bt from the file bt.txt (put on the path)
std::cout << "----------------- PARSE FILE -----------------" << std::endl;
parse_file(std::string("bt") + "_" + agent + ".txt");
// print the data parsed from the specification file
std::cout << "----------------- PRINT TREE -----------------" << std::endl;
root.print_subtree();
// wait until user inputs Enter to start
std::cout << "Press Enter To Start" << std::endl;
std::cin.get();
// start ticking the root of the tree at frequency: TICK_FREQUENCY
while (ros::ok())
{
std::cout << "**** run" << run << std::endl;
std::cout << "-------------- EXECUTE TREE --------------" << std::endl;
root.execute_reset_status();
root.execute(); // sending tick
get_keypressed(); // processing keystrokes
process_keypressed();
glut_process(); // update visualization
glutPostRedisplay();
ros::Duration(1.0/TICK_FREQUENCY).sleep();
std::cout << "**** run" << run << std::endl;
}
// missing to clear the dynamically allocated tree
// delete_tree();
return 0;
}
void KeyboardInput::handle_input(Event & e)
{
if (e.type() == SDL_KEYDOWN && (e.get_key()->keysym.sym != SDLK_LSHIFT
&& e.get_key()->keysym.sym != SDLK_RSHIFT))
{
keypressed = true;
}
if (e.type() == SDL_KEYUP && keypressed)
{
std::string temp = str;
if (temp.length() <= 14)
{
char key = 0;
keypressed = false;
//std::cout << "this key was pressed: " << (char)e.get_event()->key.keysym.unicode << std::endl;
// If the key is a space
if ((char)e.get_key()->keysym.sym == ' ')
{
key = ' ';
}
// If the key is a number
else if ( ( (char)e.get_key()->keysym.sym >= (int)'1' ) && ( (char)e.get_key()->keysym.sym <= (int)'9' ) )
{
// Append the character
//str += (char)e.get_key()->keysym.sym;
key = (char)e.get_key()->keysym.sym;
}
//If the key is a lowercase letter
else if( ( (char)e.get_key()->keysym.sym >= (int)'a' ) && ( (char)e.get_key()->keysym.sym <= (int)'z' ) )
{
//Append the character
key = (char)e.get_key()->keysym.sym;
}
KeyPressed k = get_keypressed();
if (k[SDLK_LSHIFT] || k[SDLK_RSHIFT])
{
key = (char)((int)key - 32);
}
if (key != 0)
str += key;
}
// If backspace was pressed and the string isn't blank
if ( ( e.get_key()->keysym.sym == SDLK_BACKSPACE ) && ( str.length() != 0 ) )
{
// Remove a character from the end
str.erase( str.length() - 1 );
}
// If the string was changed
if ( str != temp )
{
if (str.length() == 0)
s.set_text(" ");
else
{
// Render a new text surface
s.set_text(str);
}
}
}
}
