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Revision a826ac0f

IDa826ac0f6c59f909239b2af2c832f42a05075a83

Added by Dev Gurjar over 12 years ago

Added files for analog from motors with modifications

View differences:

scout/analog/CMakeLists.txt
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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rosbuild_add_executable(analog_node src/analog.cpp)
scout/analog/Makefile
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include $(shell rospack find mk)/cmake.mk
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/* Haiku also defines __BEOS__ so we must 
130
   put it prior to the check for __BEOS__
131
*/
132

  
133
#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
134
# define PLATFORM_ID "BeOS"
135

  
136
#elif defined(__QNX__) || defined(__QNXNTO__)
137
# define PLATFORM_ID "QNX"
138

  
139
#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
140
# define PLATFORM_ID "Tru64"
141

  
142
#elif defined(__riscos) || defined(__riscos__)
143
# define PLATFORM_ID "RISCos"
144

  
145
#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
146
# define PLATFORM_ID "SINIX"
147

  
148
#elif defined(__UNIX_SV__)
149
# define PLATFORM_ID "UNIX_SV"
150

  
151
#elif defined(__bsdos__)
152
# define PLATFORM_ID "BSDOS"
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154
#elif defined(_MPRAS) || defined(MPRAS)
155
# define PLATFORM_ID "MP-RAS"
156

  
157
#elif defined(__osf) || defined(__osf__)
158
# define PLATFORM_ID "OSF1"
159

  
160
#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
161
# define PLATFORM_ID "SCO_SV"
162

  
163
#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
164
# define PLATFORM_ID "ULTRIX"
165

  
166
#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
167
# define PLATFORM_ID "Xenix"
168

  
169
#else /* unknown platform */
170
# define PLATFORM_ID ""
171

  
172
#endif
173

  
174
/* For windows compilers MSVC and Intel we can determine
175
   the architecture of the compiler being used.  This is because
176
   the compilers do not have flags that can change the architecture,
177
   but rather depend on which compiler is being used
178
*/
179
#if defined(_WIN32) && defined(_MSC_VER)
180
# if defined(_M_IA64)
181
#  define ARCHITECTURE_ID "IA64"
182

  
183
# elif defined(_M_X64) || defined(_M_AMD64)
184
#  define ARCHITECTURE_ID "x64" 
185

  
186
# elif defined(_M_IX86)
187
#  define ARCHITECTURE_ID "X86"
188

  
189
# else /* unknown architecture */
190
#  define ARCHITECTURE_ID ""
191
# endif
192

  
193
#else
194
#  define ARCHITECTURE_ID ""
195
#endif
196

  
197
/* Construct the string literal in pieces to prevent the source from
198
   getting matched.  Store it in a pointer rather than an array
199
   because some compilers will just produce instructions to fill the
200
   array rather than assigning a pointer to a static array.  */
201
char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
202
char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
203

  
204

  
205

  
206
/*--------------------------------------------------------------------------*/
207

  
208
int main(int argc, char* argv[])
209
{
210
  int require = 0;
211
  require += info_compiler[argc];
212
  require += info_platform[argc];
213
  (void)argv;
214
  return require;
215
}
scout/analog/build/CMakeFiles/cmake.check_cache
1
# This file is generated by cmake for dependency checking of the CMakeCache.txt file
scout/analog/mainpage.dox
1
/**
2
\mainpage
3
\htmlinclude manifest.html
4

  
5
\b analog is is the ros node that will read analog input from external devices connected to the Scout.
6

  
7
<!-- 
8
Analog will contain the functions necessary for reading analog input.
9
-->
10

  
11

  
12
\section codeapi Code API
13

  
14
<!--
15
Provide links to specific auto-generated API documentation within your
16
package that is of particular interest to a reader. Doxygen will
17
document pretty much every part of your code, so do your best here to
18
point the reader to the actual API.
19

  
20
If your codebase is fairly large or has different sets of APIs, you
21
should use the doxygen 'group' tag to keep these APIs together. For
22
example, the roscpp documentation has 'libros' group.
23
-->
24

  
25

  
26
*/
scout/analog/manifest.xml
1
<package>
2
  <description brief="analog">
3
     analog
4
     Module to read analog input.
5
  </description>
6
  <author>Dev</author>
7
  <license>BSD</license>
8
  <review status="unreviewed" notes=""/>
9
  <url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url>
10
  <depend package="roscpp"/>
11
  <depend package="std_msgs"/>
12

  
13
</package>
14

  
15

  
scout/analog/msg/set_motors.msg
1
Header header
2
int8 
3
int8 which
4
int8 units
scout/analog/src/analog.cpp
1
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 **/
25

  
26
/**
27
 * @file analog.cpp
28
 * @brief Contains code to read analog data.
29
 *
30
 * Implementation of functions for analog use.
31
 *
32
 * @author Colony Project, CMU Robotics Club
33
 * @author Dev Gurjar
34
 **/
35

  
36
#include "ros/ros.h"
37
#include "analog.h"
38
//#include "libscout/src/constants.h"
39
#include <cstdlib>
40

  
41
/**
42
 * @defgroup analog Analog
43
 * @brief Functions for reading analog input
44
 *
45
 * @{
46
 **/
47

  
48
/* Analog state variables */
49
/** @todo Fix types: static */
50
unsigned int port; /**< The current port from which we are reading from. */
51

  
52

  
53
/**
54
 * @brief Outputs current analog data at a given port
55
 *
56
 * Serves the service query_analog by responding to service requests with the
57
 * speeds of the motors.
58
 * @param req The request. The only field is the units requested.
59
 * @param res The response. The fields will be filled with values.
60
 */
61
bool analog_query(motors::query_analog::Request &req,
62
                  motors::query_analog::Response &res)
63
{
64
    int port = port;
65
    res.sensor_data = get_sensor_data(port);
66

  
67
    ROS_DEBUG("Analog data queried");
68
    return true;
69
}
70

  
71
/* 
72
 * @brief 
73
 *
74
 * Given a port number, returns the analog data present at the port
75
 * 
76
 * @param port The port we want to read from
77
 */
78
unsigned int get_sensor_data(int port){
79

  
80
    ROS_DEBUG("Got Analog data from the sensor");
81
    return 0;
82
}
83

  
84
/**
85
 * @brief Motors driver. This is a ROS node that controls motor speeds.
86
 *
87
 * This is the main function for the motors node. It is run when the node
88
 * starts and initializes the motors. It then subscribes to the
89
 * set_motors, and set_motor_speeds topics, and advertises the
90
 * query_motors service.
91
 * 
92
 * @param argc The number of command line arguments (should be 1)
93
 * @param argv The array of command line arguments
94
 **/
95
int main(int argc, char **argv)
96
{
97
    /* Initialize in ROS the motors driver node */
98
    ros::init(argc, argv, "analog_driver");
99

  
100
    /* Advertise that this serves the query_analog service */
101
    ros::NodeHandle n;
102
    ros::ServiceServer service = n.advertiseService("query_analog",
103
                                                    analog_query);
104

  
105
    /* Subscribe to the set_motors topic
106
    ros::Subscriber sub0 = n.subscribe("set_analog", QUEUE_SIZE, motors_set);*/
107

  
108
    /* Initialize hardware for motors */
109
    // Hardware init functions here
110
    ros::spin();
111

  
112
    return 0;
113
}
114

  
115
/** @} **/
scout/analog/src/analog.h
1
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 **/
25

  
26
/**
27
 * @file analog.h
28
 * @brief Contains analog declarations and functions.
29
 * 
30
 * Contains functions and definitions for the use of
31
 * analog.
32
 *
33
 * @author Colony Project, CMU Robotics Club
34
 * @author Dev Gurjar
35
 **/
36

  
37
#ifndef _ANALOG_H_
38
#define _ANALOG_H_
39

  
40
#include "analog/query_analog.h"
41
//#include "analog/set_motors.h"
42

  
43
/** @brief Analog port 0 **/
44
#define AN0 0x00
45
/** @brief Analog port 1 **/
46
#define AN1 0x01
47
/** @brief Analog port 2 **/
48
#define AN2 0x02
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