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 HeadlightControl.cpp

 * @brief Contains headlights declarations and functions

 * 

 * @defgroup headlightcontrol HeadlightControl

 * @brief Functions which a behavior can use to control the headlights.

 * @ingroup behavior

 *

 * @author Colony Project, CMU Robotics Club

 * @author Ben Wasserman

 * @author Alex Zirbel

 */

#include "HeadlightControl.h"

using namespace std;

/** ROS publisher and client declaration */

/**

 * @brief Initialize the headlights module of libscout.

 *

 * Initialize the libscout node as a publisher of set_headlights.

 */

HeadlightControl::HeadlightControl(const ros::NodeHandle& libscout_node,

                                   string scoutname)

    : node(libscout_node)

{

    set_headlights_pub = node.advertise< ::messages::set_headlights>

        (scoutname + "/set_headlights", QUEUE_SIZE, true);

}

/**

 * @brief Set headlight colors as a single RGB value

 *

 * Sets the colors of the headlights as a web color value. Can selectively

 * select which motors to set, and which to remain at previous color.

 * @param color The color the headlights should be set to expressed as 0xRRGGBB

 * @param which A bitmask of which headlights should be set

 */

void HeadlightControl::set(int color, int which)

{

    int red, green, blue;

    red = (color & RED) >> REDSHIFT;

    green = (color & GREEN) >> GREENSHIFT;

    blue = (color & BLUE) >> BLUESHIFT;

    set_rgb(red, green, blue, which);

}

/**

 * @brief Set headlight colors as separate RGB values

 *

 * Sets the colors of the headlights as a web color value. Can selectively

 * select which motors to set, and which to remain at previous color.

 * @param red The red value the headlights should be set to

 * @param green The green value the headlights should be set to

 * @param blue The blue value the headlights should be set to

 * @param which A bitmask of which headlights should be set

 */

void HeadlightControl::set_rgb(int red, int green, int blue, int which)

{

    ::messages::set_headlights msg;

    if(which & HL_LEFT)

    {

        msg.left_red = red;

        msg.left_green = green;

        msg.left_blue = blue;

    }

    else

    {

        msg.left_red = NO_SET;

        msg.left_green = NO_SET;

        msg.left_blue = NO_SET;

    }

    if(which & HL_RIGHT)

    {

        msg.right_red = red;

        msg.right_green = green;

        msg.right_blue = blue;

    }

    else

    {

        msg.right_red = NO_SET;

        msg.right_green = NO_SET;

        msg.right_blue = NO_SET;

    }

    /* Publishes message to set_motors topic */

    set_headlights_pub.publish(msg);

    ros::spinOnce();

}

/** @} */