root / scout / libscout / src / SonarControl.cpp @ 25694a03
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1 | 65c7f52b | pdeo | /**
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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 | c492be62 | Alex Zirbel | */
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25 | 65c7f52b | pdeo | |
26 | /**
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27 | * @file SonarControl.cpp
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28 | c492be62 | Alex Zirbel | * @brief Contains sonar function implementation
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29 | 65c7f52b | pdeo | *
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30 | * Contains functions for the use of sonar control.
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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 | c492be62 | Alex Zirbel | * @author Alex Zirbel
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35 | 65c7f52b | pdeo | **/
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36 | |||
37 | #include "SonarControl.h" |
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38 | |||
39 | b00761a0 | Alex Zirbel | #define MAX_ATTEMPTS 10 |
40 | |||
41 | c492be62 | Alex Zirbel | using namespace std; |
42 | |||
43 | 65c7f52b | pdeo | /**
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44 | * @brief Initialize the sonar module of libscout.
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45 | *
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46 | * Initialize the libscout node as a publisher of sonar_set_scan and
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47 | * sonar_toggle and a client of query_sonar.
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48 | */
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49 | c492be62 | Alex Zirbel | SonarControl::SonarControl(const ros::NodeHandle& libscout_node,
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50 | string scoutname)
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51 | 65c7f52b | pdeo | : node(libscout_node) |
52 | { |
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53 | b00761a0 | Alex Zirbel | sonar_set_scan_client = |
54 | node.serviceClient<sonar::sonar_set_scan>(scoutname+"/set_sonar_scan");
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55 | sonar_toggle_client = |
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56 | node.serviceClient<sonar::sonar_toggle>(scoutname + "/toggle_sonar");
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57 | sonar_distance_sub = node.subscribe(scoutname + "/sonar_distance",
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58 | QUEUE_SIZE, |
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59 | &SonarControl::distance_callback, |
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60 | this);
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61 | c492be62 | Alex Zirbel | |
62 | // Initialize all the sonar readings to 0 and timestamps to undefined
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63 | for (int i = 0; i < 48; i++) |
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64 | { |
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65 | readings[i] = 0;
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66 | timestamps[i] = ros::Time::now(); // A common shortcut for no reading
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67 | } |
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68 | b00761a0 | Alex Zirbel | |
69 | /// @todo Test, and replace 10 with a const int
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70 | num_attempts = MAX_ATTEMPTS; |
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71 | c492be62 | Alex Zirbel | } |
72 | |||
73 | /**
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74 | * Update the array of sonar values, and the last read timestamps,
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75 | * to reflect the new reading received.
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76 | */
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77 | void SonarControl::distance_callback(const sonar::sonar_distance::ConstPtr& msg) |
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78 | { |
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79 | // Error checking so that the array doesn't cause a segfault
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80 | if (msg->pos < 0 || msg-> pos > 23) |
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81 | { |
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82 | ROS_ERROR("SonarControl received an invalid sonar position.");
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83 | return;
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84 | } |
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85 | |||
86 | readings[msg->pos] = msg->distance0; |
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87 | readings[msg->pos + 24] = msg->distance1;
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88 | timestamps[msg->pos] = msg->header.stamp; |
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89 | timestamps[msg->pos + 24] = msg->header.stamp;
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90 | 65c7f52b | pdeo | } |
91 | |||
92 | /**
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93 | * @brief Sets the sonar to a position.
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94 | *
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95 | * @param position Value between 0-180 of degree position to set sonar
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96 | */
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97 | c492be62 | Alex Zirbel | void SonarControl::set_single(int position) |
98 | 65c7f52b | pdeo | { |
99 | set_range(position, position); |
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100 | } |
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101 | |||
102 | /**
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103 | * @brief Sets the sonar to scan between two positions
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104 | *
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105 | * @param start_pos The leftmost (smallest) value that the sonar can take
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106 | * @param end_pos The rightmost (largest) value that the sonar can take
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107 | */
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108 | void SonarControl::set_range(int start_pos, int end_pos) |
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109 | { |
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110 | c492be62 | Alex Zirbel | // Check that the range is valid
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111 | if (start_pos < 0 || end_pos < 0 || start_pos > 23 || end_pos > 23) |
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112 | { |
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113 | ROS_ERROR("Commanded SonarControl::set_range to a bad value.");
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114 | return;
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115 | } |
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116 | |||
117 | // Sort the start and end positions into increasing order
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118 | if (start_pos > end_pos)
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119 | { |
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120 | int temp = start_pos;
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121 | start_pos = end_pos; |
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122 | end_pos = temp; |
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123 | } |
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124 | |||
125 | b00761a0 | Alex Zirbel | // Make sure sonar is on
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126 | set_on(); |
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127 | 15b7e607 | pdeo | |
128 | c492be62 | Alex Zirbel | // Set scan range
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129 | b00761a0 | Alex Zirbel | sonar::sonar_set_scan srv; |
130 | srv.request.stop_l = start_pos; |
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131 | srv.request.stop_r = end_pos; |
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132 | |||
133 | // Check if the service call failed or if the response was false
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134 | if (!sonar_set_scan_client.call(srv) || srv.response.ack == false) |
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135 | { |
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136 | if (--num_attempts == 0) |
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137 | { |
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138 | ROS_ERROR("SonarControl::set_range() failed permanently.");
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139 | } |
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140 | 65c7f52b | pdeo | |
141 | b00761a0 | Alex Zirbel | ROS_WARN("SonarControl::set_range() failed once.");
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142 | } |
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143 | } |
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144 | |||
145 | /**
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146 | * @brief Turn on sonar readings
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147 | *
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148 | * (Re)starts sonar panning and taking readings.
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149 | */
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150 | void SonarControl::set_on()
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151 | { |
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152 | set_power(true);
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153 | 65c7f52b | pdeo | } |
154 | |||
155 | /**
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156 | 15b7e607 | pdeo | * @brief Turn off sonar readings
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157 | *
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158 | * Stops sonar from panning and taking readings.
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159 | b00761a0 | Alex Zirbel | */
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160 | void SonarControl::set_off()
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161 | { |
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162 | set_power(false);
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163 | } |
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164 | |||
165 | /**
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166 | * @brief Turn sonar readings either off or on.
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167 | *
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168 | * Attempts to turn the readings off or on, num_attempts times.
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169 | 15b7e607 | pdeo | *
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170 | b00761a0 | Alex Zirbel | * @param is_on True if power should be set on, false if should be off.
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171 | 15b7e607 | pdeo | */
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172 | b00761a0 | Alex Zirbel | void SonarControl::set_power(bool is_on) |
173 | 15b7e607 | pdeo | { |
174 | b00761a0 | Alex Zirbel | sonar::sonar_toggle srv; |
175 | srv.request.set_on = is_on; |
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176 | |||
177 | // Check if the service call failed or if the response was false
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178 | if (!sonar_toggle_client.call(srv) || srv.response.ack == false) |
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179 | { |
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180 | if (--num_attempts == 0) |
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181 | { |
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182 | ROS_ERROR("SonarControl::set_power() failed permanently.");
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183 | } |
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184 | |||
185 | ROS_WARN("SonarControl::set_power() failed once.");
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186 | } |
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187 | |||
188 | // Reset num_attempts
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189 | num_attempts = MAX_ATTEMPTS; |
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190 | 15b7e607 | pdeo | } |
191 | 65c7f52b | pdeo | |
192 | 3db79f25 | Priya | int* SonarControl::get_sonar_readings()
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193 | { |
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194 | return readings;
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195 | } |
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196 | |||
197 | 65c7f52b | pdeo | /**
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198 | * @brief Converts value returne by sonar to physical distances.
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199 | *
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200 | * @param sonar_value The returned value of the sonar
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201 | * @return The physical distance measured by the sonar.
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202 | **/
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203 | c492be62 | Alex Zirbel | //float sonar_to_dist(float sonar_value)
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204 | //{
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205 | 65c7f52b | pdeo | //TODO impelement later based on sonar readings
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206 | c492be62 | Alex Zirbel | // return sonar_value;
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207 | //}
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208 | 65c7f52b | pdeo | |
209 | /**
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210 | * @brief Converts values from physical distances to values read by sonar
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211 | *
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212 | * @param distance The physical distance as measured.
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213 | * @return The value read by the sonar that corresponds to the given distance
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214 | **/
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215 | c492be62 | Alex Zirbel | //float dist_to_sonar(float distance)
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216 | //{
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217 | 65c7f52b | pdeo | //TODO implement later based on sonar readings
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218 | c492be62 | Alex Zirbel | // return distance;
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219 | //} |