root / scout / libscout / src / CliffsensorControl.cpp @ 679f4e26
History | View | Annotate | Download (3.36 KB)
| 1 | dbe4fa43 | Leon | /**
|
|---|---|---|---|
| 2 | * Copyright (c) 2011 Colony Project
|
||
| 3 | *
|
||
| 4 | * Permission is hereby granted, free of charge, to any person
|
||
| 5 | * obtaining a copy of this software and associated documentation
|
||
| 6 | * files (the "Software"), to deal in the Software without
|
||
| 7 | * restriction, including without limitation the rights to use,
|
||
| 8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
| 9 | * copies of the Software, and to permit persons to whom the
|
||
| 10 | * Software is furnished to do so, subject to the following
|
||
| 11 | * conditions:
|
||
| 12 | *
|
||
| 13 | * The above copyright notice and this permission notice shall be
|
||
| 14 | * included in all copies or substantial portions of the Software.
|
||
| 15 | *
|
||
| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
| 23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
| 24 | **/
|
||
| 25 | |||
| 26 | /**
|
||
| 27 | * @file CliffsensorControl.cpp
|
||
| 28 | * @brief Contains code to control the cliffsensor.
|
||
| 29 | *
|
||
| 30 | * Implementation of functions for cliffsensor use.
|
||
| 31 | *
|
||
| 32 | * @author Colony Project, CMU Robotics Club
|
||
| 33 | * @author Priyanka Deo
|
||
| 34 | * @author Leon Zhang
|
||
| 35 | **/
|
||
| 36 | |||
| 37 | #include "ros/ros.h" |
||
| 38 | #include "CliffsensorControl.h" |
||
| 39 | #include <cstdlib> |
||
| 40 | |||
| 41 | /**
|
||
| 42 | * @defgroup cliffsensor Cliffsensor
|
||
| 43 | * @brief Functions for using the cliffsensors
|
||
| 44 | *
|
||
| 45 | * @{
|
||
| 46 | **/
|
||
| 47 | |||
| 48 | /**
|
||
| 49 | * @brief Initializes the Cliffsensor module in libscout.
|
||
| 50 | *
|
||
| 51 | * This is the main function for the cliffsensors node. It is run when the node
|
||
| 52 | * starts and initializes the cliffsensors. It then subscribes to the
|
||
| 53 | * cliff_status_changed topics
|
||
| 54 | **/
|
||
| 55 | 9c0008d0 | Leon | CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
|
| 56 | std::string scoutname) : node(libscout_node)
|
||
| 57 | dbe4fa43 | Leon | {
|
| 58 | /* Subscribe to the cliff_status_changed topic */
|
||
| 59 | cliff_status_changed_sub = node.subscribe("cliff_status_changed",
|
||
| 60 | 9c0008d0 | Leon | QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
|
| 61 | dbe4fa43 | Leon | |
| 62 | ros::spin(); |
||
| 63 | } |
||
| 64 | |||
| 65 | /**
|
||
| 66 | * @brief Changes cliff sensor status
|
||
| 67 | *
|
||
| 68 | * Changes cliff sensor status based on subscription to topic cliff_status_changed
|
||
| 69 | *
|
||
| 70 | * @param msg The message from the cliff_status_changed topic, containing
|
||
| 71 | * status of all cliff sensors.
|
||
| 72 | *
|
||
| 73 | */
|
||
| 74 | void CliffsensorControl::changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg) |
||
| 75 | {
|
||
| 76 | 9c0008d0 | Leon | front_raw = msg->front_raw; |
| 77 | left_raw = msg->left_raw; |
||
| 78 | right_raw = msg->right_raw; |
||
| 79 | dbe4fa43 | Leon | return;
|
| 80 | } |
||
| 81 | |||
| 82 | /**
|
||
| 83 | * @brief get the current raw value of the front cliffsensor
|
||
| 84 | * @return the current raw value of the front cliffsensor
|
||
| 85 | */
|
||
| 86 | int CliffsensorControl::get_front_raw()
|
||
| 87 | {
|
||
| 88 | return front_raw;
|
||
| 89 | } |
||
| 90 | |||
| 91 | /**
|
||
| 92 | * @brief get the current raw value of the left cliffsensor
|
||
| 93 | * @return the current raw value of the left cliffsensor
|
||
| 94 | */
|
||
| 95 | int CliffsensorControl::get_left_raw()
|
||
| 96 | {
|
||
| 97 | return left_raw;
|
||
| 98 | } |
||
| 99 | |||
| 100 | /**
|
||
| 101 | * @brief get the current raw value of the right cliffsensor
|
||
| 102 | * @return the current raw value of the right cliffsensor
|
||
| 103 | */
|
||
| 104 | int CliffsensorControl::get_right_raw()
|
||
| 105 | {
|
||
| 106 | return right_raw;
|
||
| 107 | } |
||
| 108 | |||
| 109 | /**
|
||
| 110 | * @brief check if a cliff is being detected
|
||
| 111 | * @return true if there is a cliff, otherwise
|
||
| 112 | */
|
||
| 113 | bool CliffsensorControl::check_is_cliff()
|
||
| 114 | {
|
||
| 115 | return (front_raw || left_raw || right_raw);
|
||
| 116 | } |
||
| 117 | |||
| 118 | /** @} **/ |