scoutos / scout / libscout / src / CliffsensorControl.h @ 1034f829
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1 | dbe4fa43 | 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 | **/
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25 | |||
26 | /**
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27 | * @file CliffsensorControl.h
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28 | * @brief Contains cliffsensor declarations and functions.
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29 | *
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30 | * Contains functions and definitions for the use of
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31 | * cliffsensors.
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * @author Priyanka Deo
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35 | * @author Leon Zhang
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36 | **/
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37 | |||
38 | #ifndef _CLIFFSENSOR_H_
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39 | #define _CLIFFSENSOR_H_
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40 | |||
41 | 9c0008d0 | Leon | #include <cliffsensor/query_cliff.h> |
42 | #include <cliffsensor/cliff_status_changed.h> |
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43 | #include "constants.h" |
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44 | dbe4fa43 | Leon | |
45 | #define CLIFF_DETECTED 0x0 |
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46 | #define NO_CLIFF 0x1 |
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47 | |||
48 | class CliffsensorControl |
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49 | { |
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50 | public:
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51 | 9c0008d0 | Leon | CliffsensorControl(const ros::NodeHandle& libscout_node, std::string scoutname);
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52 | dbe4fa43 | Leon | |
53 | /** @brief Responds to topic to change cliff sensor status. **/
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54 | 9c0008d0 | Leon | void changed_cliff_status(
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55 | const cliffsensor::cliff_status_changed::ConstPtr& msg);
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56 | dbe4fa43 | Leon | |
57 | int get_front_raw();
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58 | int get_left_raw();
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59 | int get_right_raw();
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60 | bool check_is_cliff();
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61 | |||
62 | private:
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63 | /* Cliffsensor state variables
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64 | */
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65 | 9c0008d0 | Leon | int front_raw; /**< The current raw value |
66 | data of the front cliffsensor. */
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67 | int left_raw; /**< The current raw value data of |
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68 | the left cliffsensor. */
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69 | int right_raw; /**< The current raw value data of |
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70 | the right cliffsensor. */
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71 | dbe4fa43 | Leon | |
72 | ros::Subscriber cliff_status_changed_sub; |
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73 | 9c0008d0 | Leon | ros::NodeHandle node; |
74 | }; |
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75 | dbe4fa43 | Leon | |
76 | #endif |