root / scout / buttons / src / buttons.cpp @ 8de28e68
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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 buttons.cpp
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* @brief Contains code to control the buttons.
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*
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* Implementation of functions for button use.
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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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#include "ros/ros.h" |
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#include "buttons.h" |
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#include <cstdlib> |
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/**
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* @defgroup buttons Buttons
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* @brief Functions for using the buttons
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*
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* @{
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**/
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/* Button state variables
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*/
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static int button1_pressed; /**< Whether or not button 1 is pressed. */ |
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static int button2_pressed; /**< Whether or not button 2 is pressed. */ |
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/**
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* @brief Handles button events
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*
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* Handles button events based on subscription to the button_event topic.
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*
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* @param msg The message from the button_event topic, containing buttons
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* statuses.
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*/
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void event_button(const buttons::button_event::ConstPtr& msg) |
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{ |
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//TODO: What goes here?
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} |
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/**
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* @brief Outputs whether or not the buttons are pressed.
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*
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* Serves the service query_buttons by responding to service requests
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* with the status of the buttons
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* @param req The request. The only field is the units requested.
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* @param res The response. The fields will be filled with values.
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*/
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bool buttons_query(buttons::query_buttons::Request &req,
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buttons::query_buttons::Response &res) |
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{ |
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int units = req.units;
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res.button1_pressed = button1_pressed; |
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res.button2_pressed = button2_pressed; |
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ROS_DEBUG("Button status queried");
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return true; |
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} |
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/**
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* @brief Buttons driver. This is a ROS node that queries button status.
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*
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* This is the main function for the buttons node. It is run
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* when the node starts and initializes the buttons. It then
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* subscribes to the event_button topics, and advertises the
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* query_buttons service.
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*
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* @param argc The number of command line arguments (should be 1)
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* @param argv The array of command line arguments
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**/
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int main(int argc, char **argv) |
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{ |
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/* Initialize in ROS the buttons driver node */
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ros::init(argc, argv, "buttons_driver");
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/* Advertise that this serves the query_buttons service */
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ros::NodeHandle n; |
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ros::ServiceServer service = n.advertiseService("query_buttons",
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buttons_query); |
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/* Subscribe to the button_event topic */
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ros::Subscriber sub0 = n.subscribe("button_event", 4, event_button); |
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/* Initialize hardware for buttons */
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// Hardware init functions here
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ROS_INFO("Ready to query buttons.");
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ros::spin(); |
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return 0; |
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} |
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/** @} **/
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