Colony » Colony Scout

cmake_minimum_required(VERSION 2.4.6)

include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:

#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage

#  Debug          : w/ debug symbols, w/o optimization

#  Release        : w/o debug symbols, w/ optimization

#  RelWithDebInfo : w/ debug symbols, w/ optimization

#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries

#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

#set the default path for built libraries to the "lib" directory

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages

rosbuild_genmsg()

#uncomment if you have defined services

#rosbuild_gensrv()

#common commands for building c++ executables and libraries

#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

#target_link_libraries(${PROJECT_NAME} another_library)

#rosbuild_add_boost_directories()

#rosbuild_link_boost(${PROJECT_NAME} thread)

#rosbuild_add_executable(example examples/example.cpp)

#target_link_libraries(example ${PROJECT_NAME})

rosbuild_add_executable(headlights_node src/headlights.cpp)

include $(shell rospack find mk)/cmake.mk

/**

\mainpage

\htmlinclude manifest.html

\b headlights is the ROS node that will control the multicolor headlights on scout

<!-- 

Headlights will contain the functions necessary for controling the headlights

-->

\section codeapi Code API

<!--

Provide links to specific auto-generated API documentation within your

package that is of particular interest to a reader. Doxygen will

document pretty much every part of your code, so do your best here to

point the reader to the actual API.

If your codebase is fairly large or has different sets of APIs, you

should use the doxygen 'group' tag to keep these APIs together. For

example, the roscpp documentation has 'libros' group.

-->

*/

<package>

  <description brief="headlights">

     motors

     Module to drive the headlights and provide all headlights functionality.

  </description>

  <author>Ben Wasserman</author>

  <license>BSD</license>

  <review status="unreviewed" notes=""/>

  <url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url>

  <depend package="roscpp"/>

  <depend package="std_msgs"/>

</package>

Header header

int8 left_red

int8 left_green

int8 left_blue

int8 right_red

int8 right_green

int8 right_blue

/**

 * 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 headlights.cpp

 * @brief Contains code to control the headlights.

 *

 * Implementation of functions for headlights use.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include "ros/ros.h"

#include "headlights.h"

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

#include <cstdlib>

/**

 * @defgroup headlights headlights

 * @brief Functions for using the headlights

 *

 * @{

 **/

/* Headlight state variables

 * Each color intensity is stored as a value out of the max bunary value that 

 * can be written to the output pins that control the LEDs.

 */

/** @todo Fix types: static */

struct headlight

{

	char red;

	char green;

	char blue;

};

headlight left, right;

/**

 * @brief Sets headlight colors

 *

 * Sets the headlight colors based on subscription to the set_headlights topic.

 *

 * @param msg The message from the set_headlights topic, containing colors.

 */

void headlights_set(const headlights::set_headlights::ConstPtr& msg)

{

		/* Set state variables from message */

		if(msg.left_red > NO_SET)

		{

			left.red = msg.left_red;

		}

		if(msg.left_green > NO_SET)

		{

			left.green = msg.left_green;

		}

		if(msg.left_blue > NO_SET)

		{

			left.blue = msg.left_blue;

		}

		if(msg.right_red > NO_SET)

		{

			right.red = msg.right_red;

		}

		if(msg.right_green > NO_SET)

		{

			right.green = msg.right_green;

		}

		if(msg.right_blue > NO_SET)

		{

			right.blue = msg.right_blue;

		}

    /* Write colors to hardware */

    /** @todo Add code to write colors to hardware */

}

/**

 * @brief headlights driver. This is a ROS node that controls headlight colors.

 *

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

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

 * set_headlights topic.

 * 

 * @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 headlights driver node */

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

    /* Create the nodehandle for this node*/

    ros::NodeHandle n;

    /* Subscribe to the set_headlights topic */

    ros::Subscriber sub0 = n.subscribe("set_headlights", QUEUE_SIZE, headlights_set);

    /* Initialize hardware for headlights */

    // Hardware init functions here

    ROS_INFO("Ready to set headlights.");

    ros::spin();

    return 0;

}

/** @} **/

/**

 * 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 headlights.h

 * @brief Contains motor declarations and functions.

 * 

 * Contains functions and definitions for the use of

 * headlights.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _HEADLIGHTS_H_

#define _HEADLIGHTS_H_

#include "headlights/set_headlights.h"

#define FULL 0xFF

#define HALF 0xC0

#define OFF  0x00

#define NO_SET -1

/* The number of messages in the queue. If messages arrive faster than they are

 * handled, old ones are thrown out */

#define QUEUE_SIZE 4

/** @brief Initialize the headlights module and driver. **/

int main(int argc, char **argv);

/** @brief Responds to topic to set motor speeds and configs. **/

void headlights_set(const headlights::set_headlights::ConstPtr& msg);

#endif