Colony » Colony Scout

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file buttons.cpp

 * @brief Contains code to control the buttons.

 *

 * Implementation of functions for button use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 **/

#include "ros/ros.h"

#include "buttons.h"

#include <cstdlib>

/**

 * @defgroup buttons Buttons

 * @brief Functions for using the buttons

 *

 * @{

 **/

/* Button state variables

 */

static int button1_pressed; /**< Whether or not button 1 is pressed. */

static int button2_pressed; /**< Whether or not button 2 is pressed. */

/**

 * @brief Handles button events

 *

 * Handles button events based on subscription to the button_event topic.

 *

 * @param msg The message from the button_event topic, containing buttons

 * statuses.

 */

void event_button(const buttons::button_event::ConstPtr& msg)

{

    //TODO: What goes here?

}

/**

 * @brief Outputs whether or not the buttons are pressed.

 *

 * Serves the service query_buttons by responding to service requests 

 * with the status of the buttons

 * @param req The request. The only field is the units requested.

 * @param res The response. The fields will be filled with values.

 */

bool buttons_query(buttons::query_buttons::Request &req,

                  buttons::query_buttons::Response &res)

{

    int units = req.units;

    res.button1_pressed = button1_pressed;

    res.button2_pressed = button2_pressed;

    ROS_DEBUG("Button status queried");

    return true;

}

/**

 * @brief Buttons driver. This is a ROS node that queries button status.

 *

 * This is the main function for the buttons node. It is run

 * when the node starts and initializes the buttons. It then 

 * subscribes to the event_button topics, and advertises the 

 * query_buttons service.

 * 

 * @param argc The number of command line arguments (should be 1)

 * @param argv The array of command line arguments

 **/

int main(int argc, char **argv)

{

    /* Initialize in ROS the buttons driver node */

    ros::init(argc, argv, "buttons_driver");

    /* Advertise that this serves the query_buttons service */

    ros::NodeHandle n;

    ros::ServiceServer service = n.advertiseService("query_buttons",

                                                    buttons_query);

    /* Subscribe to the button_event topic */

    ros::Subscriber sub0 = n.subscribe("button_event", 4, event_button);

    /* Initialize hardware for buttons */

    // Hardware init functions here

    ROS_INFO("Ready to query buttons.");

    ros::spin();

    return 0;

}

/** @} **/