scoutos / scout / libscout / src / ButtonControl.cpp @ 6ebee82c
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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.cpp
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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 | b00761a0 | Alex Zirbel | * @author Alex Zirbel
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38 | 42e8c915 | Leon | **/
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39 | |||
40 | #include "ButtonControl.h" |
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41 | |||
42 | b00761a0 | Alex Zirbel | using namespace std; |
43 | |||
44 | /**
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45 | 42e8c915 | Leon | * @brief Initialize the buttons module of libscout.
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46 | *
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47 | * Initialize the libscout node as a subscriber of button_event
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48 | */
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49 | b00761a0 | Alex Zirbel | ButtonControl::ButtonControl(const ros::NodeHandle& libscout_node,
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50 | string scoutname)
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51 | : node(libscout_node) |
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52 | 42e8c915 | Leon | { |
53 | b00761a0 | Alex Zirbel | button_event_sub = node.subscribe(scoutname + "/button_event",
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54 | QUEUE_SIZE, |
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55 | &ButtonControl::event_callback, |
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56 | this);
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57 | 42e8c915 | Leon | } |
58 | |||
59 | b00761a0 | Alex Zirbel | /**
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60 | 42e8c915 | Leon | * @brief Respond to button events
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61 | * Processes message and updates private variables
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62 | */
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63 | 6ebee82c | Alex | void ButtonControl::event_callback(const ::messages::button_event::ConstPtr& msg) |
64 | 42e8c915 | Leon | { |
65 | b00761a0 | Alex Zirbel | button1_value = msg->button1_pressed; |
66 | button2_value = msg->button2_pressed; |
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67 | 42e8c915 | Leon | } |
68 | |||
69 | /**
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70 | b00761a0 | Alex Zirbel | * @brief check if button 1 is currently being pressed
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71 | *
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72 | * @return true if button is pressed, otherwise false
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73 | */
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74 | 42e8c915 | Leon | bool ButtonControl::button1_is_pressed()
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75 | { |
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76 | return button1_value;
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77 | } |
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78 | |||
79 | /**
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80 | b00761a0 | Alex Zirbel | * @brief check if button 2 is currently being pressed
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81 | *
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82 | * @return true if button is pressed, otherwise false
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83 | */
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84 | 42e8c915 | Leon | bool ButtonControl::button2_is_pressed()
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85 | { |
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86 | return button2_value;
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87 | } |