root / scout / libscout / src / BomControl.cpp @ 93cebb99
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| 1 | 93cebb99 | Yuyang (Misty) Guo | /**
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| 2 | * Copyright (c) 2011 Colony Project
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| 3 | *
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| 4 | * Permission is hereby granted, free of charge, to any person
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| 5 | * obtaining a copy of this software and associated documentation
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| 6 | * files (the "Software"), to deal in the Software without
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| 7 | * restriction, including without limitation the rights to use,
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| 8 | * 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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| 10 | * Software is furnished to do so, subject to the following
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| 11 | * conditions:
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| 12 | *
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| 13 | * The above copyright notice and this permission notice shall be
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| 14 | * included in all copies or substantial portions of the Software.
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| 15 | *
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| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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| 23 | * OTHER DEALINGS IN THE SOFTWARE.
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| 24 | */
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| 25 | |||
| 26 | /**
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| 27 | * @file BomControl.h
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| 28 | * @brief Contains line follwing sensor declarations and functions
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| 29 | *
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| 30 | * @author Colony Project, CMU Robotics Club
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| 31 | * @author Yuyang (Misty) Guo
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| 32 | */
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| 33 | |||
| 34 | #include "BomControl.h" |
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| 35 | |||
| 36 | using namespace std; |
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| 37 | |||
| 38 | /**
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| 39 | * @brief Initialize the BOM module of libscout.
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| 40 | */
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| 41 | BomControl::BomControl(const ros::NodeHandle& libscout_node, string scoutname) |
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| 42 | : node(libscout_node) |
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| 43 | {
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| 44 | query_client = |
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| 45 | node.serviceClient< ::messages::query_boms>(scoutname+"/query_boms");
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| 46 | } |
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| 47 | |||
| 48 | vector<uint32_t> BomControl::query() |
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| 49 | {
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| 50 | ::messages::query_boms srv; |
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| 51 | |||
| 52 | if (!query_client.call(srv))
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| 53 | {
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| 54 | ROS_ERROR("BOM_Control query failed.");
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| 55 | } |
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| 56 | |||
| 57 | if (srv.response.readings.size() != 10) |
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| 58 | {
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| 59 | ROS_WARN("BOM_Control reading vector has %d readings, 10 expected.",
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| 60 | int(srv.response.readings.size()));
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| 61 | } |
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| 62 | |||
| 63 | return srv.response.readings;
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| 64 | } |