TurnstileEvents.cpp

Go to the documentation of this file.

/*
 * Filename: TurnstileEvents.cpp
 *   Author: Igor Makhtes
 *     Date: Jan 7, 2014
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2014 Cogniteam Ltd.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

#include <iostream>
#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/foreach.hpp>
#include <boost/assign/std/vector.hpp>

#include <ros/ros.h>
#include <std_msgs/String.h>

using namespace std;
using namespace boost::assign;

#define foreach BOOST_FOREACH


int main(int argc, char **argv) {
    ros::init(argc, argv, "fsm_turstile_events");

    ros::NodeHandle node;
    ros::Publisher eventPublisher = node.advertise<std_msgs::String>("/decision_making/fsm_turnstile/events", 1, false);

    int currentEvent = 0;
    vector<string> events;
    events += "COIN","COIN","PUSH","PUSH";

    ROS_INFO("Starting turnstile event publisher...");

    while (ros::ok()) {
        std_msgs::String event;
        event.data = events[currentEvent++];
        currentEvent %= events.size();

        eventPublisher.publish(event);
        boost::this_thread::sleep(boost::posix_time::seconds(1));
    }
        return 0;
}