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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 SonarControl.h
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 * @brief Contains sonar declarations and functions
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 * 
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 * Contains functions and definitions for the use of
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 * sonar
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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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 **/
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#ifndef _SONAR_CONTROL_H_
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#define _SONAR_CONTROL_H_
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#include <ros/ros.h>
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#include <sonar/sonar_set_scan.h>
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#include <sonar/sonar_toggle.h>
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#include <sonar/sonar_distance.h>
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#include "constants.h"
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class SonarControl
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{
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    public:
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        /** Set up the motor node and prepare to communicate over ROS */
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        SonarControl(const ros::NodeHandle& libscout_node,
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                     std::string scoutname);
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        /** Sets sonar to a position (0-23) specified by input */
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        void set_single(int position);
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        /** Sets sonar to scan a range in 0-23 specified by input */
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        void set_range(int start_pos, int end_pos);
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        /** (Re)starts sonar panning and taking readings */
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        void set_on();
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        /** Stops sonar from panning and taking readings */
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        void set_off();        
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        /** Get sonar readings */
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        int* get_sonar_readings();
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    private:
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        /** Record the new sonar distance measurement */
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        void distance_callback(const sonar::sonar_distance::ConstPtr& msg);
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        /** Sends a sonar_toggle message. */
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        void set_power(bool is_on);
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        /** Converts between values output by sensor and physical distances */
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        //float sonar_to_dist(float sonar_value);
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        //float dist_to_sonar(float distance);
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        /** If a service call fails, tries again this many times. */
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        int num_attempts;
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        /** Keep track of the latest readings and their time of receipt.
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         *  Readings are in millimeters. */
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        int readings[48];
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        ros::Time timestamps[48];
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        /* ROS publisher and client declaration */
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        ros::ServiceClient sonar_set_scan_client;
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        ros::ServiceClient sonar_toggle_client;
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        ros::Subscriber sonar_distance_sub;
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        ros::NodeHandle node;
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};
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#endif
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