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 bom.cpp

 * @brief Contains code to control the bom.

 *

 * Implementation of functions for bom use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author キャロル　ジェムス

 **/

#include "ros/ros.h"

#include "bom.h"

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

#include <cstdlib>

/**

 * @defgroup bom Bom

 * @brief Functions for using the bom

 *

 * @{

 **/

/**A psuedo function to make the below code compile**/

int get_response_from_avr(bom::get_bom_reading::Request &req,

                          bom::get_bom_reading::Response &res)

{

  /**

   * The actual function will be in the avr, and will get the data

   * directly off of the boms

  **/

  return 1;

}

/**

 * @brief Sends who you want to look for, and returns the specific data

 *

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

 * values of the boms.

 * @param req The request. Should contain the name of the target bot and this

 *     bots name..

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

 */

bool get_data(bom::get_bom_reading::Request &req,

             bom::get_bom_reading::Response &res)

{

    /**TODO is that how you pass the values across? need the ampersands?**/

    get_response_from_avr(req,res);

    /**TODO if you haven't noticed, reader, this shouldn't work ...ask Priya **/

    ROS_DEBUG("Data Recieved! Not");

    return true;

}

/**

 * @brief Bom driver. This is a ROS node that controls bom communication.

 *

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

 * starts and initializes the bom. It then advertises the

 * get_bom_reading 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 bom driver node */

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

    /* Advertise that this serves the get_bom_reading service */

    ros::NodeHandle n;

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

                                                    get_data);

    // Hardware init functions here

    ROS_INFO("Ready to communicate with the bom.");

    ros::spin();

    return 0;

}

/** @} **/