root / scout / libscout / src / CliffsensorControl.cpp @ 126fea96
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| 1 | dbe4fa43 | Leon | /**
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| 2 | * Copyright (c) 2011 Colony Project
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| 3 | *
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| 4 | * Permission is hereby granted, free of charge, to any person
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| 5 | * obtaining a copy of this software and associated documentation
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| 6 | * files (the "Software"), to deal in the Software without
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| 7 | * restriction, including without limitation the rights to use,
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| 8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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| 9 | * copies of the Software, and to permit persons to whom the
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| 10 | * Software is furnished to do so, subject to the following
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| 11 | * conditions:
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| 12 | *
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| 13 | * The above copyright notice and this permission notice shall be
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| 14 | * included in all copies or substantial portions of the Software.
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| 15 | *
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| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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| 23 | * OTHER DEALINGS IN THE SOFTWARE.
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| 24 | **/
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| 25 | |||
| 26 | /**
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| 27 | * @file CliffsensorControl.cpp
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| 28 | * @brief Contains code to control the cliffsensor.
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| 29 | *
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| 30 | * Implementation of functions for cliffsensor use.
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| 31 | *
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| 32 | * @author Colony Project, CMU Robotics Club
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| 33 | * @author Priyanka Deo
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| 34 | * @author Leon Zhang
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| 35 | **/
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| 36 | |||
| 37 | #include "ros/ros.h" |
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| 38 | #include "CliffsensorControl.h" |
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| 39 | #include <cstdlib> |
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| 40 | |||
| 41 | /**
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| 42 | * @brief Initializes the Cliffsensor module in libscout.
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| 43 | *
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| 44 | * This is the main function for the cliffsensors node. It is run when the node
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| 45 | * starts and initializes the cliffsensors. It then subscribes to the
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| 46 | * cliff_status_changed topics
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| 47 | **/
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| 48 | 9c0008d0 | Leon | CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
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| 49 | std::string scoutname) : node(libscout_node)
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| 50 | dbe4fa43 | Leon | {
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| 51 | /* Subscribe to the cliff_status_changed topic */
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| 52 | cliff_status_changed_sub = node.subscribe("cliff_status_changed",
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| 53 | 9c0008d0 | Leon | QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
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| 54 | dbe4fa43 | Leon | |
| 55 | ros::spin(); |
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| 56 | } |
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| 57 | |||
| 58 | /**
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| 59 | * @brief Changes cliff sensor status
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| 60 | *
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| 61 | * Changes cliff sensor status based on subscription to topic cliff_status_changed
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| 62 | *
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| 63 | * @param msg The message from the cliff_status_changed topic, containing
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| 64 | * status of all cliff sensors.
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| 65 | *
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| 66 | */
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| 67 | 071926c2 | Alex | void CliffsensorControl::changed_cliff_status(const ::messages::cliff_status_changed::ConstPtr& msg) |
| 68 | dbe4fa43 | Leon | {
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| 69 | 9c0008d0 | Leon | front_raw = msg->front_raw; |
| 70 | left_raw = msg->left_raw; |
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| 71 | right_raw = msg->right_raw; |
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| 72 | dbe4fa43 | Leon | return;
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| 73 | } |
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| 74 | |||
| 75 | /**
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| 76 | * @brief get the current raw value of the front cliffsensor
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| 77 | * @return the current raw value of the front cliffsensor
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| 78 | */
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| 79 | int CliffsensorControl::get_front_raw()
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| 80 | {
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| 81 | return front_raw;
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| 82 | } |
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| 83 | |||
| 84 | /**
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| 85 | * @brief get the current raw value of the left cliffsensor
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| 86 | * @return the current raw value of the left cliffsensor
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| 87 | */
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| 88 | int CliffsensorControl::get_left_raw()
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| 89 | {
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| 90 | return left_raw;
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| 91 | } |
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| 92 | |||
| 93 | /**
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| 94 | * @brief get the current raw value of the right cliffsensor
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| 95 | * @return the current raw value of the right cliffsensor
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| 96 | */
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| 97 | int CliffsensorControl::get_right_raw()
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| 98 | {
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| 99 | return right_raw;
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| 100 | } |
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| 101 | |||
| 102 | /**
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| 103 | * @brief check if a cliff is being detected
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| 104 | * @return true if there is a cliff, otherwise
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| 105 | */
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| 106 | bool CliffsensorControl::check_is_cliff()
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| 107 | {
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| 108 | return (front_raw || left_raw || right_raw);
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| 109 | } |