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scoutos / scout / buttons / src / buttons.cpp @ 6ebee82c

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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 buttons.cpp
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 * @brief Contains code to control the buttons.
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 *
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 * Implementation of functions for button use.
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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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 * @author Alex Zirbel
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 **/
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#include "ros/ros.h"
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#include "buttons.h"
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#include <cstdlib>
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/**
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 * @defgroup buttons Buttons
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 * @brief Functions for using the buttons
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 *
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 * @{
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 **/
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/* Button state variables
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 */
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static int button1_pressed; /**< Whether or not button 1 is pressed. */
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static int button2_pressed; /**< Whether or not button 2 is pressed. */
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/**
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 * @brief Buttons driver. This is a ROS node that queries button status.
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 *
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 * This is the main function for the buttons node. It is run
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 * when the node starts and initializes the buttons. It then 
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 * subscribes to the event_button topics, and advertises the 
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 * query_buttons service.
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 * 
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 * @param argc The number of command line arguments (should be 1)
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 * @param argv The array of command line arguments
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 */
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int main(int argc, char **argv)
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{
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    /* Initialize in ROS the buttons driver node */
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    ros::init(argc, argv, "buttons_driver");
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    /* Advertise that this serves the query_buttons service */
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    ros::NodeHandle n;
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    ros::Publisher pub = n.advertise< ::messages::button_event>("button_event",
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                                                                QUEUE_SIZE);
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    /* Initialize hardware for buttons */
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    // Hardware init functions here
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    // Publish a button event now and then
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    ROS_INFO("Ready to handle buttons. [unimplemented]");
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    ros::spin();
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    return 0;
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}
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/** @} **/