scoutos / scout / libscout / src / HeadlightControl.cpp @ 3232c4a7
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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 HeadlightControl.cpp
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* @brief Contains headlights declarations and functions
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*
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* @defgroup headlightcontrol HeadlightControl
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* @brief Functions which a behavior can use to control the headlights.
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* @ingroup behavior
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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< ::messages::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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::messages::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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} |
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/** @} */
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