HybridExample.cpp

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#include <iostream>


#include <boost/thread.hpp>
#include <deque>
#include <vector>
#include <boost/thread/mutex.hpp>
#include <boost/thread/condition.hpp>
#include <boost/shared_ptr.hpp>


using namespace std;

#include <SynchCout.h>
#include <EventSystem.h>

using namespace decision_making;


EventQueue mainEventQueue;


void EVENTS_GENERATOR(){
//      Event spec[]={"SUCCESS", "FAIL", "SUCCESS", "FAIL", "SUCCESS", "FAIL", "SUCCESS", "FAIL", "GO", "NOTHING"};
//      Event spec[]={"FAIL", "NOTHING"};
        Event spec[]={"SUCCESS","SUCCESS","SUCCESS","SUCCESS","SUCCESS","SUCCESS","GO", "NOTHING"};
        int i=0;
        boost::this_thread::sleep(boost::posix_time::seconds(1));
        while(true){
                Event t = spec[i];
                if(t == "NOTHING"){ i=1; t=spec[0]; }else i++;
                cout << endl << t<<" -> ";
                mainEventQueue.riseEvent(t);
                boost::this_thread::sleep(boost::posix_time::seconds(2));
        }
}


//==================== END OF SYMULATION OF REAL SYSTEM ======================

#define X(x) x
#define PAUSE boost::this_thread::sleep(boost::posix_time::seconds(1.3));
#define TIMES(N) for(size_t times=0;times<N;times++)



//==================== CONNECTION TO REAL TASKS ==============================


#include "custom_decision_making.h"


//=============================================================================


#include "BT_BT1.h"
#include "FSM_TEST.h"

void FSM_TEST(){
        FsmTEST(NULL,&mainEventQueue);
}

TaskResult BT_run_(){
        BT_ROOT_BGN(root, mainEventQueue){
                BT_PAR_BGN(P1){
//                      BT_TASK_BGN(MY1){
//                              cout<<"HELLO"<<endl;
//                              FSM_TEST();
//                              BT_TASK_RESULT( TaskResult::SUCCESS() );
//                      }
//                      BT_TASK_END(MY1);
                        BT_CALL_FSM(TEST);

//                      BT_SEQ_BGN(S1){
//                              BT_TASK_ROS(T1);
//                              BT_TASK_ROS(T2);
//                      }
//                      BT_SEQ_END(S1);
                        BT_CALL_TASK(T3);
                        BT_CALL_TASK(T4);
                        BT_CALL_BT(BT1);
                }
                BT_PAR_END(P1);
        }
        BT_END(root) main;
        return main.run();
}


int main() {

boost::thread_group threads;
threads.add_thread(new boost::thread(boost::bind(&BT_run_)));
//threads.add_thread(new boost::thread(boost::bind(&FSM_TEST)));
threads.add_thread(new boost::thread(boost::bind(&EVENTS_GENERATOR)));

threads.join_all();

return 0;
}