Revision 887b4a1a

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scout/bom/src/bom.cpp
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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 bom.cpp
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 * @brief Contains code to control the bom.
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 *
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 * Implementation of functions for bom use.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author キャロル ジェムス
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 **/
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#include "ros/ros.h"
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#include "bom.h"
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//#include "libscout/src/constants.h"
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#include <cstdlib>
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/**
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 * @defgroup bom Bom
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 * @brief Functions for using the bom
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 *
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 * @{
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 **/
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/**A psuedo function to make the below code compile**/
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int get_response_from_avr(bom::get_bom_reading::Request &req,
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                          bom::get_bom_reading::Response &res)
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{
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  /**
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   * The actual function will be in the avr, and will get the data
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   * directly off of the boms
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  **/
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  return 1;
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}
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/**
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 * @brief Sends who you want to look for, and returns the specific data
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 *
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 * Serves the service get_bom_reading by responding to service requests with the
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 * values of the boms.
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 * @param req The request. Should contain the name of the target bot and this
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 *     bots name..
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 * @param res The response. The fields will be filled with values.
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 */
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bool get_data(bom::get_bom_reading::Request &req,
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             bom::get_bom_reading::Response &res)
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{
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    /**TODO is that how you pass the values across? need the ampersands?**/
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    get_response_from_avr(req,res);
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    /**TODO if you haven't noticed, reader, this shouldn't work ...ask Priya **/
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    ROS_DEBUG("Data Recieved! Not");
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    return true;
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}
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/**
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 * @brief Bom driver. This is a ROS node that controls bom communication.
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 *
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 * This is the main function for the bom node. It is run when the node
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 * starts and initializes the bom. It then advertises the
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 * get_bom_reading 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 bom driver node */
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    ros::init(argc, argv, "bom_driver");
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    /* Advertise that this serves the get_bom_reading service */
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    ros::NodeHandle n;
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    ros::ServiceServer service = n.advertiseService("get_bom_reading",
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                                                    get_data);
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    // Hardware init functions here
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    ROS_INFO("Ready to communicate with the bom.");
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    ros::spin();
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    return 0;
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}
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/** @} **/
scout/bom/src/bom.h
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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 bom.h
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 * @brief Contains bom declarations and functions.
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 * 
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 * Contains functions and definitions for the use of
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 * bom.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author ジェームス キャロル
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 **/
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#ifndef _BOM_H_
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#define _BOM_H_
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#include "bom/get_bom_reading.h"
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/** @brief Initialize the bom module and driver. **/
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int main(int argc, char **argv);
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/** @brief Responds to service to get specific bom data**/
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bool get_data(bom::get_bom_reading::Request &req,
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             bom::get_bom_reading::Response &res);
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#endif
scout/bom/srv/get_bom_reading.srv
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#TODO not sure what magnitude the boms span, ie change the 8 to something right
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#TODO from sounds weird, think of something better
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#NOTE; if say a -1 was used for the bom_targ_name, then maybe it would just 
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#   >  send back the raw data or something.
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#The number assicoiated with the robot you want to listen for
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int8 bom_targ_name
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#Your robot number, just in case you want to pretend to be someone else
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int8 bom_my_name
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---
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#The data recieved
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#Of the form: magnitude recieved, from which robot, from which bom on that bot
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int8 bom0_mag
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int8 bom0_from
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int8 bom0_from_bom
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int8 bom1_mag
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int8 bom1_from
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int8 bom1_from_bom
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int8 bom2_mag
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int8 bom2_from
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int8 bom2_from_bom
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int8 bom3_mag
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int8 bom3_from
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int8 bom3_from_bom
scout/messages/srv/query_sonar.srv
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int8 direction
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---
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#front sonar
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int16 distance0
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#back sonar
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int16 distance1

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