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;
}
int main(int argc, char** argv)
{
setbuf(stdout, NULL); /* for writing to stdout asap */
glutInit(&argc, argv);
my_setup(argc, argv);
glut_setup();
gl_setup();
glutMainLoop();
return(0);
}
/*******************************************************
FUNCTION: main
ARGS: argc, argv
RETURN: 0
DOES: main function (duh!); starts GL, GLU, GLUT, then loops
********************************************************/
int main(int argc, char** argv)
{
glutInit(&argc, argv);
glut_setup();
gl_setup();
my_setup();
glutMainLoop();
return(0);
}
/*Typical OpenGL/GLUT Main function */
int main(int argc, char **argv) { /* program arguments */
/* initialize GLUT and OpenGL; Must be called first */
glutInit( &argc, argv ) ;
/* our own initializations; we'll define these setup procedures */
glut_setup() ;
gl_setup() ;
my_setup();
/* turn control over to GLUT */
glutMainLoop() ;
return(0) ; /* make the compiler happy */
}
int main(int argc, char **argv) {
/* General initialization for GLUT and OpenGL
Must be called first */
glutInit(&argc, argv);
/* we define these setup procedures */
glut_setup();
gl_setup();
my_setup(argc, argv);
/* go into the main event loop */
glutMainLoop();
return (0);
}
//Typical OpenGL/GLUT Main function
int main(int argc, char **argv) { // program arguments
//initialize shape info
for (int x = 0; x < SIZE; x++)
{
//even shapes are rectangles, odd shapes are circles
if (x % 2 == 0)
list_of_shapes[x].is_circle = 0;
else
list_of_shapes[x].is_circle = 1;
list_of_shapes[x].curr_x = 0;
list_of_shapes[x].curr_y = 0;
list_of_shapes[x].p_ptr = NULL;
}
// initialize GLUT and OpenGL; Must be called first
glutInit( &argc, argv ) ;
// our own initializations; we'll define these setup procedures
glut_setup() ;
gl_setup() ;
my_setup();
// turn control over to GLUT
glutMainLoop() ;
//Free memory
for (int x = 0; x < 25; x++)
{
if (list_of_shapes[x].p_ptr != NULL)
{
delete [] list_of_shapes[x].p_ptr;
}
}
return(0) ; // make the compiler happy
}
