/ - Diff - Colony Scout OS - Robotics Club

Revision cc558a8d

ID	cc558a8d1299b6a5034be4ea7035b58fe09581b8

Added by Alex Zirbel over 12 years ago

Modified the Behaviors to take a scoutname.

Scoutname now specifies which scout the behavior will affect. Scoutname must be passed to the constructors of each control module (some of which are now in need of modification), so that they can publish to the correct topic.

I also modified the constants file so that it is no longer exported. We should consider making this a full class with static exported functions (or a namespace).

     /**
      * Copyright (c) 2011 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file constants.h
      * @brief Contains top level scout library constants
+     *
      * Contains constants for use in libscout
+     *
      * @author Colony Project, CMU Robotics Club
      * @author Ben Wasserman
      **/
     #ifndef _CONSTANTS_H_
     #define _CONSTANTS_H_
     #include "ros/ros.h"
     /* ROS defines */
     #define QUEUE_SIZE 10
     /* Libscout Defines */
     /* Init defines */
     #define LIB_ALL -1
     #define LIB_MOTORS 0x1
     #define LIB_SONAR 0x2
     #define LIB_CLIFFSENSORS 0x4
     #define LIB_HEADLIGHTS 0x8
     #define LIB_BUTTONS 0x10
     /* Status defines */
     //TODO MAKE ENUMS
     #define LIB_ERROR -1
     #define LIB_OK 0
     #endif

     #define _BEHAVIOR_H_
     #include <ros/ros.h>
     #include <libscout/constants.h>
     #include "MotorControl.h"
     #include "HeadlightControl.h"
     #include "SonarControl.h"
     #include "constants.h"
     class Behavior
+    {

      * @author Priyanka Deo
      * @author Leon Zhang
      **/
     #include "libscout/constants.h"
     #include "buttons/button_event.h"
     #include "constants.h"
     #ifndef _LIBBUTTONS_H_
     #define _LIBBUTTONS_H_

     #include "HeadlightControl.h"
     using namespace std;
     /** ROS publisher and client declaration */
     /**
-...
+     *
      * Initialize the libscout node as a publisher of set_headlights.
      */
     HeadlightControl::HeadlightControl(const ros::NodeHandle& libscout_node)
     HeadlightControl::HeadlightControl(const ros::NodeHandle& libscout_node,
                                        string scoutname)
         : node(libscout_node)
+    {
         set_headlights_pub = node.advertise<headlights::set_headlights>
             ("set_headlights", QUEUE_SIZE);
             (scoutname + "/set_headlights", QUEUE_SIZE);
+    }
     /**

     #define _HEADLIGHT_CONTROL_H_
     #include <ros/ros.h>
     #include <libscout/constants.h>
     #include <headlights/set_headlights.h>
     #include "constants.h"
     /* Defines */
     #define WHITE		0xFFFFFF
     #define OFF			0x000000
-...
     class HeadlightControl
+    {
         public:
             HeadlightControl(const ros::NodeHandle& libscout_node);
             HeadlightControl(const ros::NodeHandle& libscout_node,
                              std::string scoutname);
             void set(int color, int which);
             void set_rgb(int red, int green, int blue, int which);

scout/libscout/src/MotorControl.cpp
186	186	*
187	187	* @param which A bitmask that will specify which motor speed should be
188	188	* returned
189		* @return The speed of the selected motor, or LIB_ERR if no motor selected
	189	* @return The speed of the selected motor
190	190	*/
191	191	float MotorControl::query(int which)
192	192	{
...	...
204	204	case MOTOR_BR:
205	205	return srv.response.br_speed;
206	206	default:
207		ROS_WARN("Bad WHICH in motors_query.");
208		return LIB_ERROR;
	207	/// @todo: I hate this. Let's fix it soon.
	208	ROS_FATAL("Bad WHICH in motors_query.");
209	209	}
210	210	}
211	211	else
212	212	{
213		ROS_ERROR("Failed to call service query_motors");
214		return LIB_ERROR;
	213	ROS_FATAL("Failed to call service query_motors");
215	214	}
216	215
217	216	return 0;

     #define _MOTOR_CONTROL_H_
     #include <ros/ros.h>
     /// @TODO maybe not so good! Then packages have to depend on libscout.
     #include <libscout/constants.h>
     #include <motors/query_motors.h>
     #include <motors/set_motors.h>
     #include "constants.h"
     /* Motor-specific defines */
     #define MOTOR_ALL 0xF
     #define MOTOR_ALL_REV 0xF0

scout/libscout/src/SonarControl.cpp
110	110	*
111	111	* @TODO Change so we can get multiple sonar readings with one call
112	112	*
113		* @return The reading of the front sonar or LIB_ERR.
	113	* @return The reading of the front sonar
114	114	*/
115	115	float SonarControl::query_front()
116	116	{
...	...
121	121	}
122	122	else
123	123	{
124		ROS_ERROR("Failed to call service query_motors");
125		return LIB_ERROR;
	124	ROS_FATAL("Failed to call service query_motors");
126	125	}
127	126
128	127	return 0;
...	...
136	135	*
137	136	* @TODO Change so we can get multiple sonar readings with one call
138	137	*
139		* @return The reading of the back sonar or LIB_ERR.
	138	* @return The reading of the back sonar
140	139	*/
141	140	float SonarControl::query_back()
142	141	{
...	...
147	146	}
148	147	else
149	148	{
150		ROS_ERROR("Failed to call service query_motors");
151		return LIB_ERROR;
	149	ROS_FATAL("Failed to call service query_motors");
152	150	}
153	151
154	152	return 0;

     /**
      * Copyright (c) 2011 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file constants.h
      * @brief A file containing top level scout library constants
+     *
      * Contains constants for use in libscout
+     *
      * @author Colony Project, CMU Robotics Club
      * @author Ben Wasserman
      * @author Alex Zirbel
      **/
     #ifndef _CONSTANTS_H_
     #define _CONSTANTS_H_
     #include "ros/ros.h"
     /* ROS defines */
     #define QUEUE_SIZE 10
     #endif

      * @author Alex Zirbel
      **/
     #include <ros/ros.h>
     #include "PriyaBehavior.h"
-...
     int main (int argc, char **argv)
+    {
         string scoutname = "";
         if (argc != 2)
+        {
             cout << "Usage: " << argv[0] << " <scoutname>" << endl;
             exit(1);
             cout << "You have started this behavior in hardware mode." << endl
                  << "To start in software mode, use: " << argv[0]
                  << " <scoutname>" << endl;
+        }
         else
+        {
             // Use the provided scoutname for simulator messages
             scoutname = argv[1];
+        }
         ros::init(argc, argv, "libscout");
         PriyaBehavior *behavior = new PriyaBehavior(argv[1]);
         PriyaBehavior *behavior = new PriyaBehavior(scoutname);
         behavior->run();
+    }

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