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 ButtonControl.cpp

 * @brief Contains buttons declarations and functions

 * 

 * @defgroup buttoncontrol ButtonControl

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

 * @ingroup behavior

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Leon Zhang

 * @author Alex Zirbel

 *

 * @{

 **/

#include "ButtonControl.h"

using namespace std;

/**

 * @brief Initialize the buttons module of libscout.

 *

 * Initialize the libscout node as a subscriber of button_event

 */

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

                             string scoutname)

    : node(libscout_node)

{

    button_event_sub = node.subscribe(scoutname + "/button_event",

                                      QUEUE_SIZE,

                                      &ButtonControl::event_callback,

                                      this);

}

/**

 * @brief Respond to button events

 * Processes message and updates private variables

 */

void ButtonControl::event_callback(const ::messages::button_event::ConstPtr& msg)

{

    button1_value = msg->button1_pressed;

    button2_value = msg->button2_pressed;

}

/**

 * @brief check if button 1 is currently being pressed

 * 

 * @return true if button is pressed, otherwise false

 */

bool ButtonControl::button1_is_pressed()

{

    return button1_value;

}

/**

 * @brief check if button 2 is currently being pressed

 * 

 * @return true if button is pressed, otherwise false

 */

bool ButtonControl::button2_is_pressed()

{ 

    return button2_value;

}

/** @} */