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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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/**
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 * @file ButtonControl.cpp
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 * @brief Contains buttons declarations and functions
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 * 
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 * @defgroup buttoncontrol ButtonControl
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 * @brief Functions which a behavior can use to control the buttons.
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 * @ingroup behavior
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 * @author Leon Zhang
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 * @author Alex Zirbel
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 *
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 * @{
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 **/
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#include "ButtonControl.h"
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using namespace std;
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/**
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 * @brief Initialize the buttons module of libscout.
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 *
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 * Initialize the libscout node as a subscriber of button_event
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 */
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ButtonControl::ButtonControl(const ros::NodeHandle& libscout_node,
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                             string scoutname)
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    : node(libscout_node)
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{
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    button_event_sub = node.subscribe(scoutname + "/button_event",
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                                      QUEUE_SIZE,
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                                      &ButtonControl::event_callback,
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                                      this);
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}
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/**
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 * @brief Respond to button events
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 * Processes message and updates private variables
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 */
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void ButtonControl::event_callback(const ::messages::button_event::ConstPtr& msg)
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{
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    button1_value = msg->button1_pressed;
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    button2_value = msg->button2_pressed;
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}
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/**
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 * @brief check if button 1 is currently being pressed
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 * 
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 * @return true if button is pressed, otherwise false
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 */
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bool ButtonControl::button1_is_pressed()
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{
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    return button1_value;
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}
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/**
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 * @brief check if button 2 is currently being pressed
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 * 
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 * @return true if button is pressed, otherwise false
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 */
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bool ButtonControl::button2_is_pressed()
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{ 
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    return button2_value;
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}
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/** @} */