Revision d1cc615c
actually removing what I removed
scout/buttons/msg/button_event.msg | ||
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Header header |
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int8 button1_pressed |
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int8 button2_pressed |
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bool button1_pressed |
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bool button2_pressed |
scout/buttons/srv/query_buttons.srv | ||
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1 | 1 |
int8 units |
2 | 2 |
--- |
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int8 button1_pressed |
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int8 button2_pressed |
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bool button1_pressed |
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bool button2_pressed |
scout/buttons/srv/query_motors.srv | ||
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int8 units |
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--- |
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int8 fl_speed |
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int8 fr_speed |
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int8 bl_speed |
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int8 br_speed |
scout/libscout/src/ButtonControl.cpp | ||
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48 | 48 |
button_event_sub = node.subscribe("button_event", QUEUE_SIZE, event_button); |
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} |
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/*! |
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/*!*
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* @brief Respond to button events |
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* Sends out button events if buttons are pressed. |
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* Processes message and updates private variables |
scout/libscout/src/libbuttons.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 libbuttons.cpp |
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* @brief Contains buttons declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* buttons |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/* Author: Priyanka Deo |
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*/ |
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#include "libbuttons.h" |
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/* ROS node created in libscout.cpp */ |
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extern ros::NodeHandle node; |
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/** ROS publisher and client declaration */ |
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ros::Publisher button_event_publisher; |
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ros::ServiceClient query_buttons_client; |
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/*! |
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* \brief Initialize the buttons module of libscout. |
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* |
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* Initialize the libscout node as a publisher of button_event and a client of |
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* query_buttons. |
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*/ |
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void libbuttons_init() |
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{ |
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button_event_publisher = node.advertise<buttons::button_event>("libbuttons", 10); |
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query_buttons_client = node.serviceClient<buttons::query_buttons>("libbuttons"); |
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} |
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/*! |
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* \brief Respond to button events |
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* Sends out button events if buttons are pressed. Tells which buttons |
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* have been pressed. |
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* \param which_button - Which button is pressed |
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* \param which A bitmask of which motors should be set |
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* \return Function status |
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*/ |
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int event_button(int which_button) |
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{ |
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if(!ros::ok()) |
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{ |
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return LIB_ERROR; |
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} |
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/* Create message */ |
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buttons::button_event msg; |
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switch(which_button) |
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{ |
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case BUTTON1: |
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msg.button1_pressed = BUTTON_PRESSED; |
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break; |
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case BUTTON2: |
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msg.button2_pressed = BUTTON_PRESSED; |
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break; |
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default: |
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ROS_ERROR("Button %d does not exist\n", which_button); |
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return LIB_ERROR; |
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} |
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/* Publishes message to button_event topic */ |
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button_event_publisher.publish(msg); |
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ros::spinOnce(); |
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return LIB_OK; |
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} |
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/*! |
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* \brief Query the current status of the buttons |
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* |
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* Sends a request to the query_buttons service which will reply with the |
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* current status of the buttons |
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* |
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* \param which_button - Which button we are querying |
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* \return status of the button queried, or LIB_ERROR on error |
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*/ |
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int buttons_query(int which_button) |
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{ |
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buttons::query_buttons srv; |
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if(query_buttons_client.call(srv)) |
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{ |
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switch(which_button) |
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{ |
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case BUTTON1: |
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return srv.response.button1_pressed; |
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case BUTTON2: |
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return srv.response.button2_pressed; |
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default: |
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ROS_ERROR("Button %d does not exist", which_button); |
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return LIB_ERROR; |
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} |
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} |
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else |
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{ |
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ROS_ERROR("Failed to call service query_buttons"); |
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return LIB_ERROR; |
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} |
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/* Code never reaches here */ |
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return 0; |
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} |
scout/libscout/src/libbuttons.h | ||
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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 |
|
5 |
* 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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* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* 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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/** |
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* @file libbuttons.h |
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* @brief Contains buttons declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* buttons |
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* |
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* @author Colony Project, CMU Robotics Club |
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**/ |
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/* Author: Priyanka Deo |
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*/ |
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#include "ros/ros.h" |
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#include "constants.h" |
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#include "buttons/query_buttons.h" |
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#include "buttons/button_event.h" |
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#ifndef _LIBBUTTONS_H_ |
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#define _LIBBUTTONS_H_ |
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/* Defines */ |
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#define BUTTON1 0 |
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#define BUTTON2 1 |
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#define BUTTON_PRESSED 1 |
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void libbuttons_init(); |
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int event_button(int which_button); |
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int buttons_query(int which_button); |
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#endif |
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|
scout/motors/manifest.xml | ||
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11 | 11 |
<depend package="std_msgs"/> |
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<export> |
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<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lmotors"/>
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<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/> |
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</export> |
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</package> |
scout/scoutsim/manifest.xml | ||
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<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp"/> |
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</export>--> |
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<export> |
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<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp -I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lmotors"/>
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<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp -I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/libk"/>
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</export> |
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<platform os="ubuntu" version="9.04"/> |
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