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/**

 * 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 CliffsensorControl.h

 * @brief Contains cliffsensor declarations and functions.

 * 

 * Contains functions and definitions for the use of

 * cliffsensors.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Leon Zhang

 **/

#ifndef _CLIFFSENSOR_H_

#define _CLIFFSENSOR_H_

#include <cliffsensor/query_cliff.h>

#include <cliffsensor/cliff_status_changed.h>

#include "constants.h"

#define CLIFF_DETECTED 0x0

#define NO_CLIFF 0x1

class CliffsensorControl

{

    public:

        CliffsensorControl(const ros::NodeHandle& libscout_node, std::string scoutname);

        /** @brief Responds to topic to change cliff sensor status. **/

        void changed_cliff_status(

                        const cliffsensor::cliff_status_changed::ConstPtr& msg);

        int get_front_raw();

        int get_left_raw();

        int get_right_raw();

        bool check_is_cliff();

    private:

        /* Cliffsensor state variables

         */

        int front_raw; /**< The current raw value 

                        data of the front cliffsensor. */

        int left_raw; /**< The current raw value data of 

                        the left cliffsensor. */

        int right_raw; /**< The current raw value data of 

                        the right cliffsensor. */

        ros::Subscriber cliff_status_changed_sub;

        ros::NodeHandle node; 

};

#endif