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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_boms");
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}
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vector<uint32_t> 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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    return srv.response.readings;
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}
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