Revision 90c7a37c
ID | 90c7a37c1c096289c25d8238ee99d6031a94396d |
Added libheadlights.cpp(cpp/h). Also updated constants.h and libscout.(cpp/h) for libheadlights. Have not compiled yet, but it should work.
scout/libscout/src/constants.h | ||
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/** |
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* Copyright (c) 2007 Colony Project
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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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* Contains constants for use in libscout |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Ben Wasserman |
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**/ |
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/* Author: Ben Wasserman |
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*/ |
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#ifndef _CONSTANTS_H_ |
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#define _CONSTANTS_H_ |
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scout/libscout/src/libheadlights.cpp | ||
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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 libheadlights.cpp |
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* @brief Contains headlights declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* headlights |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Ben Wasserman |
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**/ |
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#include "libheadlights.h" |
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/* ROS node created in libscout.cpp */ |
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extern ros::NodeHandle libscout_node; |
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/** ROS publisher and client declaration */ |
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ros::Publisher set_headlights_publisher; |
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/*! |
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* \brief Initialize the headlights module of libscout. |
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* |
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* Initialize the libscout node as a publisher of set_headlights. |
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*/ |
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void libheadlights_init() |
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{ |
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set_headlights_publisher = |
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libscout_node.advertise<headlights::set_headlights>("libheadlights", 10); |
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} |
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/*! |
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* \brief Set headlight colors as a single RGB value |
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* Sets the colors of the headlights as a web color value. Can selectively |
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* select which motors to set, and which to remain at previous color. |
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* \param color The color the headlights should be set to expressed as 0xRRGGBB |
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* \param which A bitmask of which headlights should be set |
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* \return Function status |
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*/ |
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int headlights_set(int color, int which) |
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{ |
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int red, green, blue; |
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red = (color & RED) >> REDSHIFT; |
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green = (color & GREEN) >> GREENSHIFT; |
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blue = (color & BLUE) >> BLUESHIFT; |
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return headlights_set_rgb(red, green, blue, which); |
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} |
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/*! |
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* \brief Set headlight colors as separate RGB values |
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* Sets the colors of the headlights as a web color value. Can selectively |
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* select which motors to set, and which to remain at previous color. |
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* \param red The red value the headlights should be set to |
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* \param green The green value the headlights should be set to |
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* \param blue The blue value the headlights should be set to |
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* \param which A bitmask of which headlights should be set |
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* \return Function status |
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*/ |
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int headlights_set_rgb(int red, int green, int blue, int which) |
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{ |
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/** \todo Set fields of the message based on params */ |
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headlights::set_headlights msg; |
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if(!ros::ok()) |
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{ |
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return LIB_ERROR; |
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} |
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if(which & HL_LEFT) |
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{ |
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left_red = red; |
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left_green = green; |
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left_blue = blue; |
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} |
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if(which & HL_RIGHT) |
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{ |
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right_red = red; |
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right_green = green; |
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right_blue = blue; |
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} |
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/* Publishes message to set_motors topic */ |
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set_headlights_publisher.publish(msg); |
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ros::spinOnce(); |
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return LIB_OK; |
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} |
scout/libscout/src/libheadlights.h | ||
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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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9 |
* 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 |
|
18 |
* 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 libheadlights.h |
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* @brief Contains headlights declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* headlights |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Ben Wasserman |
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**/ |
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#include "ros/ros.h" |
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#include "constants.h" |
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#include "headlights/set_headlights.h" |
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#ifndef _LIBheadlights_H_ |
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#define _LIBheadlights_H_ |
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/* Defines */ |
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#define WHITE 0xFFFFFF |
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#define OFF 0x000000 |
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#define RED 0xFF0000 |
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#define GREEN 0x00FF00 |
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#define BLUE 0x0000FF |
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#define YELLOW 0xFFFF00 |
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#define CYAN 0x00FFFF |
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#define PINK 0xFF00FF |
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#define HL_RIGHT 0x1 |
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#define HL_LEFT 0x2 |
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#define HL_BOTH 0x3 |
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#define REDSHIFT 16 |
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#define GREENSHIFT 8 |
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#define BLUESHIFT 0 |
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void libheadlights_init(); |
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int headlights_set(int color, int which); |
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int headlights_set_rgb(int red, int green, int blue, int which); |
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#endif |
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scout/libscout/src/libscout.cpp | ||
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if(modules & LIB_MOTORS){ |
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libmotors_init(); |
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} |
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if(modules & LIB_HEADLIGHTS){ |
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libheadlights_init(); |
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} |
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/** \todo Add other lib inits **/ |
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return 0; |
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} |
scout/libscout/src/libscout.h | ||
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#include "ros/ros.h" |
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#include "constants.h" |
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#include "libmotors.h" |
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#include "libheadlights.h" |
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/* Libscout functions */ |
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int init(int modules, int argc, char **argv); |
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