Colony » Colony Scout

/**

 * 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 ButtonControl.cpp

 * @brief Contains buttons declarations and functions

 * 

 * Contains functions and definitions for the use of

 * buttons

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Leon Zhang

 **/

#include "ButtonControl.h"

/*!

 * @brief Initialize the buttons module of libscout.

 *

 * Initialize the libscout node as a subscriber of button_event

 */

ButtonControl::ButtonControl(const ros::NodeHandle& libscout_node) : node(libscout_node)

{

    button_event_sub = node.subscribe("button_event", QUEUE_SIZE, event_button);

}

/*!

 * @brief Respond to button events

 * Sends out button events if buttons are pressed. 

 * Processes message and updates private variables

 * 

 * @param subscription to button_event message

 */

void ButtonControl::event_button(const buttons::button_event::ConstPtr& msg)

{

    button1_pressed = msg.button1_pressed;

    button2_pressed = msg.button2_pressed;

}

/**

*@brief check if button 1 is currently being pressed

* 

*@return true if button is pressed, otherwise false

*/

bool ButtonControl::button1_is_pressed()

{

    return button1_value;

}

/**

*@brief check if button 2 is currently being pressed

* 

*@return true if button is pressed, otherwise false

*/

bool ButtonControl::button2_is_pressed()

{ 

    return button2_value;

}

/**

 * 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 ButtonControl.h

 * @brief Contains buttons declarations and functions

 * 

 * Contains functions and definitions for the use of

 * buttons

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Leon Zhang

 **/

#include "libscout/constants.h"

#include "buttons/button_event.h"

#ifndef _LIBBUTTONS_H_

#define _LIBBUTTONS_H_

class ButtonControl

{

    public:

        /** set up buttons node and prepare to communicate over ROS**/

        ButtonControl(const ros::NodeHandle& libscout_node);

        void event_button(const buttons::button_event::ConstPtr& msg);

        bool button1_is_pressed();

        bool button2_is_pressed();

    private:

        bool button1_value;

        bool button2_value;

        /* ROS node created in libscout.cpp */

        ros::NodeHandle node;

        /** ROS subscriber declaration */

        ros::Subscriber button_event_sub;

}

#endif