scoutos / scout / libscout / src / PaintBoardControl.cpp @ 34a60a3b
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/**
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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/**
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* @file PaintBoardControl.cpp
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* @brief Contains paintboard declarations and functions
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*
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* Contains functions and definitions for the use of
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* paintboards
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*
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* @author Colony Project, CMU Robotics Club
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* @author Priyanka Deo
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**/
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#include "PaintBoardControl.h" |
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using namespace std; |
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/**
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* @brief Initialize the paintboards module of libscout.
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*
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* Initialize the libscout node as a publisher of set_paintboards and a client of
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* query_paintboards.
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*/
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PaintBoardControl::PaintBoardControl(const ros::NodeHandle& libscout_node,
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string scoutname)
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: node(libscout_node) |
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{ |
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set_paintboard_pub = |
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node.advertise< ::messages::set_paintboard>(scoutname + "/set_paintboard",
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QUEUE_SIZE, true);
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query_paintboard_client = |
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node.serviceClient< ::messages::query_paintboard>(scoutname + "/query_paintboard");
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} |
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PaintBoardControl::~PaintBoardControl() |
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{ |
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set(STOP_PAINT); |
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} |
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/**
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* @brief Sets all the speeds according to the specificiation of which paintboard
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* to set.
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*
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* @param which A bitmask of which paintboard need to be set.
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* @param speed The value to set the paintboard to.
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* @param units The units the speed is expressed in.
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* @return Function status
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*/
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void PaintBoardControl::set(int paintboard_setting) |
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{ |
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::messages::set_paintboard msg; |
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msg.setting = paintboard_setting; |
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set_paintboard_pub.publish(msg); |
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ros::spinOnce(); |
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} |
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/**
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* @brief Query the current speeds of the paintboard
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*
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* Sends a request to the query_paintboard service which will reply with the
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* current setting of the paintboard.
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*
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* @param which A bitmask that will specify which motor speed should be
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* returned
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* @return The speed of the selected motor
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*/
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int PaintBoardControl::query()
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{ |
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::messages::query_paintboard srv; |
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if(query_paintboard_client.call(srv))
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{ |
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return srv.response.setting;
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} |
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else
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{ |
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ROS_FATAL("Failed to call service query_paintboard");
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} |
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return -1; |
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} |