Colony » Colony Scout » Colony Scout OS

/**

 * 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 HeadlightControl.h

 * @brief Contains headlights declarations and functions

 * 

 * Contains functions and definitions for the use of

 * headlights

 *

 * @author Colony Project, CMU Robotics Club

 * @author Ben Wasserman

 * @author Alex Zirbel

 */

#ifndef _HEADLIGHT_CONTROL_H_

#define _HEADLIGHT_CONTROL_H_

#include <ros/ros.h>

#include <headlights/set_headlights.h>

#include "constants.h"

/* Defines */

#define WHITE                0xFFFFFF

#define OFF                        0x000000

#define RED                 0xFF0000

#define GREEN             0x00FF00

#define BLUE                0x0000FF

#define YELLOW            0xFFFF00

#define CYAN                0x00FFFF

#define PINK                0xFF00FF

#define HL_RIGHT        0x1

#define HL_LEFT                0x2

#define HL_BOTH                0x3

#define NO_SET        -1

#define REDSHIFT                 16

#define GREENSHIFT             8

#define BLUESHIFT                0

class HeadlightControl

{

    public:

        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);

    private:

        ros::NodeHandle node;

        ros::Publisher set_headlights_pub;

};

#endif