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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 CliffsensorControl.cpp
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 * @brief Contains code to control the cliffsensor.
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 *
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 * Implementation of functions for cliffsensor use.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 * @author Leon Zhang
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 **/
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#include "ros/ros.h"
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#include "CliffsensorControl.h"
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#include <cstdlib>
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/**
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 * @brief Initializes the Cliffsensor module in libscout.
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 *
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 * This is the main function for the cliffsensors node. It is run when the node
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 * starts and initializes the cliffsensors. It then subscribes to the
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 * cliff_status_changed topics
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 **/
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CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
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                                  std::string scoutname) : node(libscout_node)
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{
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    /* Subscribe to the cliff_status_changed topic */
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    cliff_status_changed_sub = node.subscribe("cliff_status_changed", 
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                             QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
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    ros::spin();
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}
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/**
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 * @brief Changes cliff sensor status
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 *
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 * Changes cliff sensor status based on subscription to topic cliff_status_changed
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 *
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 * @param msg The message from the cliff_status_changed topic, containing 
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 * status of all cliff sensors.
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 *
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 */
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void CliffsensorControl::changed_cliff_status(const ::messages::cliff_status_changed::ConstPtr& msg)
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{
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    front_raw = msg->cliff_status;
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    left_raw = msg->cliff_status;
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    right_raw = msg->cliff_status;
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    return;
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}
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/**
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 * @brief get the current raw value of the front cliffsensor
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 * @return the current raw value of the front cliffsensor
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 */
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int CliffsensorControl::get_front_raw()
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{
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    return front_raw;
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}
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/**
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 * @brief get the current raw value of the left cliffsensor
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 * @return the current raw value of the left cliffsensor
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 */
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int CliffsensorControl::get_left_raw()
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{
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    return left_raw;
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}
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/**
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 * @brief get the current raw value of the right cliffsensor
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 * @return the current raw value of the right cliffsensor
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 */
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int CliffsensorControl::get_right_raw()
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{
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    return right_raw;
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}
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/**
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 * @brief check if a cliff is being detected
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 * @return true if there is a cliff, otherwise
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 */
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bool CliffsensorControl::check_is_cliff()
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{
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    return (front_raw || left_raw || right_raw);
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}