root / scout / libscout / src / ButtonControl.h @ ddfeb111
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1 | 42e8c915 | Leon | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | c492be62 | Alex Zirbel | */
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25 | 42e8c915 | Leon | |
26 | |||
27 | /**
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28 | * @file ButtonControl.h
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29 | * @brief Contains buttons declarations and functions
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30 | *
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31 | * Contains functions and definitions for the use of
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32 | * buttons
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | * @author Priyanka Deo
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36 | * @author Leon Zhang
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37 | **/
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38 | b00761a0 | Alex Zirbel | |
39 | 42e8c915 | Leon | #include "buttons/button_event.h" |
40 | cc558a8d | Alex Zirbel | #include "constants.h" |
41 | 42e8c915 | Leon | |
42 | #ifndef _LIBBUTTONS_H_
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43 | #define _LIBBUTTONS_H_
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44 | |||
45 | class ButtonControl |
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46 | { |
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47 | public:
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48 | b00761a0 | Alex Zirbel | /** Set up buttons node and prepare to communicate over ROS */
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49 | ButtonControl(const ros::NodeHandle& libscout_node,
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50 | std::string scoutname); |
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51 | |||
52 | void event_callback(const buttons::button_event::ConstPtr& msg); |
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53 | 42e8c915 | Leon | |
54 | bool button1_is_pressed();
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55 | bool button2_is_pressed();
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56 | |||
57 | private:
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58 | bool button1_value;
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59 | bool button2_value;
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60 | |||
61 | ros::NodeHandle node; |
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62 | |||
63 | /** ROS subscriber declaration */
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64 | ros::Subscriber button_event_sub; |
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65 | b00761a0 | Alex Zirbel | }; |
66 | 42e8c915 | Leon | |
67 | #endif |