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#include <cstdlib>
#include <memory>
#include <thread>
#include <deque>
#include <iostream>
#include <vector>
#include <atomic>
#include <unistd.h>
#include <ctime>
#include <termios.h>
#include <unistd.h>
#include <fcntl.h>
int kbhit(void)
{
struct termios oldt, newt;
int ch;
int oldf;
tcgetattr(STDIN_FILENO, &oldt);
newt = oldt;
newt.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &newt);
oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
ch = getchar();
tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
fcntl(STDIN_FILENO, F_SETFL, oldf);
if(ch != EOF)
{
ungetc(ch, stdin);
return 1;
}
return 0;
}
class Biscuit {
public:
int x;
~Biscuit(){
std::cout << "Deleting biscuit " <<std::endl; //WHY is this called multiple times?
}
};
class Robot;
typedef int(Robot::*m_behavior)(int);
typedef int(Robot::*m_listener)(int&);
struct cancelled_error {};
class thread_item;
class Behavior {
public:
Behavior(Robot &o, m_behavior b_have, std::string i_id): r(o), main_b(b_have),id(i_id) {};
void run_listeners();
int exec(int flag);
m_behavior main_b;
std::string id;
std::vector<std::shared_ptr<thread_item> >thread_list;
Robot &r;
};
struct State {
std::shared_ptr<Behavior> current_behavior;
int current_param;
};
class Stack {
public:
Stack() {};
void empty(){
state.clear();
};
State pop_out(){
State last=state.front();
state.pop_front();
return last;
};
void push_b(std::shared_ptr<Behavior> i_behavior, int iparam) {
State temp;
temp.current_behavior=i_behavior;
temp.current_param=iparam;
state.push_back(temp);
};
void push_f(std::shared_ptr<Behavior> i_behavior, int iparam) {
State temp;
temp.current_behavior=i_behavior;
temp.current_param=iparam;
state.push_front(temp);
};
std::deque<State> state;
};
class Robot {
public:
Biscuit bisc;
static std::atomic<bool> behavior_status;
Robot() {
std::shared_ptr<Behavior> move=std::make_shared<Behavior>(*this,&Robot::move_and_scan,"M");
run_stack->push_b(move,20);
};
int keyboard_interrupt(int &x){
std::cout << "Keyboard running "<< x <<std::endl;
int c;
for (;;) {
if (x!=1)
break;
if (kbhit()) {
if (getchar() == 'c') {
std::cout << "Key c pressed, stopping move_and_scan" << std::endl;
behavior_status=false;
}
}
}
std::cout << "Keyboard interrupt ending" << std::endl;
}
int speech_interrupt(int &x){
std::cout << "Speech running "<< x << std::endl;
int c;
for (;;) {
if (x!=1)
break;
}
std::cout << "Speech interrupt ending" << std::endl;
}
int move_and_scan(int x){
bool status=true;
std::cout << "Move starting " << std::endl;
behavior_status=true;
int start_time=clock();
int elapsed_time=0;
do {
if (!behavior_status) {
std::cout << "Moved was stopped " << std::endl;
status=false;
break;
}
elapsed_time=clock() - start_time;
} while (elapsed_time < (x*1000000));
std::cout << "Move stopping with result "<< status << std::endl;
}
void run_state() {
if (run_stack->state.size() > 0) {
std::cout << "Run stack size is " << run_stack->state.size() << std::endl;
s=run_stack->pop_out();
int outcome=s.current_behavior->exec(s.current_param);
}
}
std::shared_ptr<Stack> run_stack=std::make_shared<Stack>();
State s;
};
std::atomic<bool> Robot::behavior_status{0};
class thread_item {
public:
thread_item(Robot &o, m_listener m_list, std::string i_id) : r(o), id(i_id) {
thr=std::make_shared<std::thread>(m_list,r,std::ref(l_flag));
}
std::string id;
int l_flag=1;
std::shared_ptr<std::thread> thr;
Robot &r;
};
void Behavior::run_listeners() {
std::shared_ptr<thread_item>m=std::make_shared<thread_item>(r,&Robot::keyboard_interrupt,"KL");
thread_list.push_back(m);
std::shared_ptr<thread_item>x=std::make_shared<thread_item>(r,&Robot::speech_interrupt,"KL");
thread_list.push_back(x);
}
int Behavior::exec(int flag){
run_listeners();
std::cout << "Executing behavior " << this->id << std::endl;
bool result = (r.*(this->main_b))(flag);
for ( auto &l: thread_list ) {
l->l_flag=0;
}
for ( auto &l: thread_list ) {
l->thr->join();
}
}
int main(int argc, char** argv) {
Robot create;
// for (;;) {
create.run_state();
// }
return 0;
}
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