Colony » Colony Scout » Colony Scout OS

/**

 * 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 libbuttons.cpp

 * @brief Contains buttons declarations and functions

 * 

 * Contains functions and definitions for the use of

 * buttons

 *

 * @author Colony Project, CMU Robotics Club

 **/

/* Author: Priyanka Deo

*/

#include "libbuttons.h"

/* ROS node created in libscout.cpp */

extern ros::NodeHandle node;

/** ROS publisher and client declaration */

ros::Publisher button_event_publisher;

ros::ServiceClient query_buttons_client;

/*!

 * \brief Initialize the buttons module of libscout.

 *

 * Initialize the libscout node as a publisher of button_event and a client of

 * query_buttons.

 */

void libbuttons_init()

{

  button_event_publisher = node.advertise<buttons::button_event>("libbuttons", 10);

  query_buttons_client = node.serviceClient<buttons::query_buttons>("libbuttons");

}

/*!

 * \brief Respond to button events

 * Sends out button events if buttons are pressed. Tells which buttons

 * have been pressed.

 * \param which_button - Which button is pressed

 * \param which A bitmask of which motors should be set

 * \return Function status

 */

int event_button(int which_button)

{

  if(!ros::ok())

  {

    return LIB_ERROR;

  }

  /* Create message */

  buttons::button_event msg;

  switch(which_button)

  {

    case BUTTON1:

      msg.button1_pressed = BUTTON_PRESSED;

      break;

    case BUTTON2:

      msg.button2_pressed = BUTTON_PRESSED;

      break;

    default:

      ROS_ERROR("Button %d does not exist\n", which_button);

      return LIB_ERROR;

  }

  /* Publishes message to button_event topic */

  button_event_publisher.publish(msg);

  ros::spinOnce();

  return LIB_OK;

}

/*!

 * \brief Query the current status of the buttons

 *

 * Sends a request to the query_buttons service which will reply with the

 *  current status of the buttons

 *

 * \param which_button - Which button we are querying

 * \return status of the button queried, or LIB_ERROR on error

 */

int buttons_query(int which_button)

{

  buttons::query_buttons srv;

  if(query_buttons_client.call(srv))

  {

    switch(which_button)

    {

      case BUTTON1:

        return srv.response.button1_pressed;

      case BUTTON2:

        return srv.response.button2_pressed;

      default:

        ROS_ERROR("Button %d does not exist", which_button);

        return LIB_ERROR;

    }

  }

  else

  {

    ROS_ERROR("Failed to call service query_buttons");

    return LIB_ERROR;

  }

  /* Code never reaches here */

  return 0;

}