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1 a8480867 Alex Zirbel
/**
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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 HeadlightControl.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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 * @author Alex Zirbel
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 */
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#include "HeadlightControl.h"
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using namespace std;
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/** ROS publisher and client declaration */
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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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HeadlightControl::HeadlightControl(const ros::NodeHandle& libscout_node,
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                                   string scoutname)
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    : node(libscout_node)
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{
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    set_headlights_pub = node.advertise<headlights::set_headlights>
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        (scoutname + "/set_headlights", QUEUE_SIZE, true);
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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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 *
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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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 */
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void HeadlightControl::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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    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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 *
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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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 */
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void HeadlightControl::set_rgb(int red, int green, int blue, int which)
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{
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    headlights::set_headlights msg;
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    if(which & HL_LEFT)
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    {
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        msg.left_red = red;
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        msg.left_green = green;
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        msg.left_blue = blue;
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    }
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    else
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    {
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        msg.left_red = NO_SET;
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        msg.left_green = NO_SET;
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        msg.left_blue = NO_SET;
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    }
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    if(which & HL_RIGHT)
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    {
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        msg.right_red = red;
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        msg.right_green = green;
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        msg.right_blue = blue;
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    }
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    else
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    {
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        msg.right_red = NO_SET;
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        msg.right_green = NO_SET;
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        msg.right_blue = NO_SET;
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    }
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    /* Publishes message to set_motors topic */
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    set_headlights_pub.publish(msg);
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    ros::spinOnce();
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}