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scoutos / scout / libscout / src / CliffsensorControl.h @ d1ba04dc

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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 CliffsensorControl.h
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 * @brief Contains cliffsensor declarations and functions.
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 * 
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 * Contains functions and definitions for the use of
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 * cliffsensors.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 * @author Leon Zhang
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 **/
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#ifndef _CLIFFSENSOR_H_
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#define _CLIFFSENSOR_H_
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#include <messages/query_cliff.h>
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#include <messages/cliff_status_changed.h>
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#include "constants.h"
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#define CLIFF_DETECTED 0x0
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#define NO_CLIFF 0x1
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class CliffsensorControl
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{
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    public:
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        CliffsensorControl(const ros::NodeHandle& libscout_node, std::string scoutname);
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        /** @brief Responds to topic to change cliff sensor status. **/
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        void changed_cliff_status(
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                        const messages::cliff_status_changed::ConstPtr& msg);
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        int get_front_raw();
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        int get_left_raw();
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        int get_right_raw();
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        bool check_is_cliff();
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    private:
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        /* Cliffsensor state variables
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         */
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        int front_raw; /**< The current raw value 
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                        data of the front cliffsensor. */
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        int left_raw; /**< The current raw value data of 
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                        the left cliffsensor. */
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        int right_raw; /**< The current raw value data of 
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                        the right cliffsensor. */
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        ros::Subscriber cliff_status_changed_sub;
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        ros::NodeHandle node; 
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};
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#endif