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 analog.cpp

 * @brief Contains code to read analog data.

 *

 * Implementation of functions for analog use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Dev Gurjar

 **/

#include "ros/ros.h"

#include "analog.h"

//#include "libscout/src/constants.h"

#include <cstdlib>

/**

 * @defgroup analog Analog

 * @brief Functions for reading analog input

 *

 * @{

 **/

/* Analog state variables */

/** @todo Fix types: static */

unsigned int port; /**< The current port from which we are reading from. */

/**

 * @brief Outputs current analog data at a given port

 *

 * Serves the service query_analog by responding to service requests with the

 * speeds of the motors.

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

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

 */

bool analog_query(motors::query_analog::Request &req,

                  motors::query_analog::Response &res)

{

    int port = port;

    res.sensor_data = get_sensor_data(port);

    ROS_DEBUG("Analog data queried");

    return true;

}

/* 

 * @brief 

 *

 * Given a port number, returns the analog data present at the port

 * 

 * @param port The port we want to read from

 */

unsigned int get_sensor_data(int port){

    ROS_DEBUG("Got Analog data from the sensor");

    return 0;

}

/**

 * @brief Motors driver. This is a ROS node that controls motor speeds.

 *

 * This is the main function for the motors node. It is run when the node

 * starts and initializes the motors. It then subscribes to the

 * set_motors, and set_motor_speeds topics, and advertises the

 * query_motors 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 motors driver node */

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

    /* Advertise that this serves the query_analog service */

    ros::NodeHandle n;

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

                                                    analog_query);

    /* Initialize hardware for motors */

    // Hardware init functions here

    ros::spin();

    return 0;

}

/** @} **/