scoutos / scout / libscout / src / CliffsensorControl.cpp @ 26562d0c
History | View | Annotate | Download (3.36 KB)
1 | dbe4fa43 | Leon | /**
|
---|---|---|---|
2 | * Copyright (c) 2011 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | **/
|
||
25 | |||
26 | /**
|
||
27 | * @file CliffsensorControl.cpp
|
||
28 | * @brief Contains code to control the cliffsensor.
|
||
29 | *
|
||
30 | * Implementation of functions for cliffsensor use.
|
||
31 | *
|
||
32 | * @author Colony Project, CMU Robotics Club
|
||
33 | * @author Priyanka Deo
|
||
34 | * @author Leon Zhang
|
||
35 | **/
|
||
36 | |||
37 | #include "ros/ros.h" |
||
38 | #include "CliffsensorControl.h" |
||
39 | #include <cstdlib> |
||
40 | |||
41 | /**
|
||
42 | * @defgroup cliffsensor Cliffsensor
|
||
43 | * @brief Functions for using the cliffsensors
|
||
44 | *
|
||
45 | * @{
|
||
46 | **/
|
||
47 | |||
48 | /**
|
||
49 | * @brief Initializes the Cliffsensor module in libscout.
|
||
50 | *
|
||
51 | * This is the main function for the cliffsensors node. It is run when the node
|
||
52 | * starts and initializes the cliffsensors. It then subscribes to the
|
||
53 | * cliff_status_changed topics
|
||
54 | **/
|
||
55 | 9c0008d0 | Leon | CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
|
56 | std::string scoutname) : node(libscout_node)
|
||
57 | dbe4fa43 | Leon | { |
58 | /* Subscribe to the cliff_status_changed topic */
|
||
59 | cliff_status_changed_sub = node.subscribe("cliff_status_changed",
|
||
60 | 9c0008d0 | Leon | QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
|
61 | dbe4fa43 | Leon | |
62 | ros::spin(); |
||
63 | } |
||
64 | |||
65 | /**
|
||
66 | * @brief Changes cliff sensor status
|
||
67 | *
|
||
68 | * Changes cliff sensor status based on subscription to topic cliff_status_changed
|
||
69 | *
|
||
70 | * @param msg The message from the cliff_status_changed topic, containing
|
||
71 | * status of all cliff sensors.
|
||
72 | *
|
||
73 | */
|
||
74 | void CliffsensorControl::changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg) |
||
75 | { |
||
76 | 9c0008d0 | Leon | front_raw = msg->front_raw; |
77 | left_raw = msg->left_raw; |
||
78 | right_raw = msg->right_raw; |
||
79 | dbe4fa43 | Leon | return;
|
80 | } |
||
81 | |||
82 | /**
|
||
83 | * @brief get the current raw value of the front cliffsensor
|
||
84 | * @return the current raw value of the front cliffsensor
|
||
85 | */
|
||
86 | int CliffsensorControl::get_front_raw()
|
||
87 | { |
||
88 | return front_raw;
|
||
89 | } |
||
90 | |||
91 | /**
|
||
92 | * @brief get the current raw value of the left cliffsensor
|
||
93 | * @return the current raw value of the left cliffsensor
|
||
94 | */
|
||
95 | int CliffsensorControl::get_left_raw()
|
||
96 | { |
||
97 | return left_raw;
|
||
98 | } |
||
99 | |||
100 | /**
|
||
101 | * @brief get the current raw value of the right cliffsensor
|
||
102 | * @return the current raw value of the right cliffsensor
|
||
103 | */
|
||
104 | int CliffsensorControl::get_right_raw()
|
||
105 | { |
||
106 | return right_raw;
|
||
107 | } |
||
108 | |||
109 | /**
|
||
110 | * @brief check if a cliff is being detected
|
||
111 | * @return true if there is a cliff, otherwise
|
||
112 | */
|
||
113 | bool CliffsensorControl::check_is_cliff()
|
||
114 | { |
||
115 | return (front_raw || left_raw || right_raw);
|
||
116 | } |
||
117 | |||
118 | /** @} **/ |