Revision a38fa869

View differences:

scout/libscout/CMakeLists.txt
37 37
FILE(GLOB TEST_BEHAVIOR_FILES "${PROJECT_SOURCE_DIR}/src/test_behaviors/*.cpp")
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FILE(GLOB HELPER_FILES "${PROJECT_SOURCE_DIR}/src/helper_classes/*.cpp")
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set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp)
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set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp src/MetalDetectorControl.cpp)
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rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${TEST_BEHAVIOR_FILES} ${CONTROL_CLASSES} ${HELPER_FILES})
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rosbuild_add_compile_flags(libscout -std=c++0x)
scout/libscout/src/MetalDetectorControl.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 EncodersControl.cpp
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 * @brief Contains encoder function implementation
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 * 
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 * @author Colony Project, CMU Robotics Club
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 * @author Yuyang Guo
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 */
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#include "MetalDetectorControl.h"
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using namespace std;
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/**
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 * @brief Initialize the Metal Detector module of libscout
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 */
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MetalDetectorControl::MetalDetectorControl(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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    query_client = 
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            node.serviceClient< ::messages::query_metal_detector>(
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                    scoutname+"/query_metal_detector");
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}
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/**
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 * @brief query the metal detector and return the value
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 */
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bool MetalDetectorControl::query()
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{
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    ::messages::query_metal_detector srv;
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    bool metal;
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    if (!query_client.call(srv))
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    {
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        ROS_ERROR("MetalDetectorControl query failed.");
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    }
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    metal = srv.response.metal;
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    return metal;
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}
scout/libscout/src/MetalDetectorControl.h
1
/**
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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
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * 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
14
 * 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
20
 * 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 MetalDetectorControl.h
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 * @brief Contains metal detector declarations and functions
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Yuyang Guo
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 **/
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#ifndef _METALDETECTOR_CONTROL_H_
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#define _METALDETECTOR_CONTROL_H_
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#include <ros/ros.h>
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#include <messages/query_metal_detector.h>
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class MetalDetectorControl
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{
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    public:
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        /** Set up the metal detector class and prepare to 
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            communicate over ROS*/
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        MetalDetectorControl(const ros::NodeHandle& libscout_node,
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                            std::string scoutname);
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        /** Get MetalDetector reading through ROS */
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        bool query();
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    private:
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        /* ROS publisher and client declaration */
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        ros::ServiceClient query_client;
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        ros::NodeHandle node;
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};
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#endif
scout/messages/srv/query_metal_detector.srv
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---
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#true if metal is detected
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bool metal

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