root / scout / libscout / src / BomControl.cpp @ 8ae3771a
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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 BomControl.h
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* @brief Contains line follwing sensor declarations and functions
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*
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* @author Colony Project, CMU Robotics Club
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* @author Yuyang (Misty) Guo
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*/
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#include "BomControl.h" |
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using namespace std; |
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/**
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* @brief Initialize the BOM module of libscout.
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*/
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BomControl::BomControl(const ros::NodeHandle& libscout_node, string scoutname) |
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: node(libscout_node) |
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{ |
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query_client = |
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node.serviceClient< ::messages::query_boms>(scoutname+"/query_BOM");
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} |
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BomReadings BomControl::query() |
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{ |
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::messages::query_boms srv; |
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if (!query_client.call(srv))
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{ |
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ROS_ERROR("BOM_Control query failed.");
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} |
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if (srv.response.readings.size() != 10) |
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{ |
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ROS_WARN("BOM_Control reading vector has %d readings, 10 expected.",
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int(srv.response.readings.size()));
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} |
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BomReadings result; |
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result.readings = srv.response.readings; |
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result.senders = srv.response.senders; |
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return result;
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} |
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