engagement_recognition: engagement_recognition/src/recognition/recognition.cpp Source File

00001 /*
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00034 // @author Brett Ponsler (bponsler (at) wpi (dot) edu)
00035 #include <ros/ros.h>
00036 
00037 #include "lib/engagement_params.h"
00038 #include "rnode/rnode.h"
00039 
00049 int main(int argc, char **argv)
00050 { // Initialize ROS and all the NodeHandles
00051   ros::init(argc, argv, "engagement");
00052   EngagementParams::createNodeHandles();
00053   EngagementParams::retrieveParameters();
00054 
00055   if (EngagementParams::isDegraded())
00056     printf("############### RUNNING DEGRADED RECOGNITION ###############\n");
00057 
00058   // Create the RNode
00059   RNode *rnode = new RNode();
00060 
00061   // Create a new thread and block until a value is true
00062   rnode->spawnThread();
00063 
00064   ros::Rate rate(100);
00065   // Loop until the program is terminated
00066   while (ros::ok())
00067   {
00068     // Make sure there is a master thread, if not spawn one
00069     if (!rnode->masterExists())
00070       rnode->spawnThread();
00071 
00072     rate.sleep();
00073   }
00074 
00075   // Destroy all the NodeHandles
00076   EngagementParams::destroyNodeHandles();
00077   delete rnode;
00078 
00079   return 0;
00080 }