Revision 887b4a1a
Removed bom.cpp, bom.h, get_bom_reading.srv, and query_sonar.srv
Removed them for real this time; not pretend :D
scout/bom/src/bom.cpp | ||
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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 bom.cpp |
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* @brief Contains code to control the bom. |
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* |
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* Implementation of functions for bom use. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author キャロル ジェムス |
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**/ |
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#include "ros/ros.h" |
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#include "bom.h" |
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//#include "libscout/src/constants.h" |
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#include <cstdlib> |
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/** |
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* @defgroup bom Bom |
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* @brief Functions for using the bom |
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* |
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* @{ |
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**/ |
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/**A psuedo function to make the below code compile**/ |
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int get_response_from_avr(bom::get_bom_reading::Request &req, |
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bom::get_bom_reading::Response &res) |
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{ |
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/** |
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* The actual function will be in the avr, and will get the data |
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* directly off of the boms |
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**/ |
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return 1; |
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} |
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/** |
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* @brief Sends who you want to look for, and returns the specific data |
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* |
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* Serves the service get_bom_reading by responding to service requests with the |
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* values of the boms. |
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* @param req The request. Should contain the name of the target bot and this |
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* bots name.. |
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* @param res The response. The fields will be filled with values. |
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*/ |
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bool get_data(bom::get_bom_reading::Request &req, |
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bom::get_bom_reading::Response &res) |
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{ |
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/**TODO is that how you pass the values across? need the ampersands?**/ |
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get_response_from_avr(req,res); |
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/**TODO if you haven't noticed, reader, this shouldn't work ...ask Priya **/ |
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ROS_DEBUG("Data Recieved! Not"); |
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return true; |
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} |
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/** |
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* @brief Bom driver. This is a ROS node that controls bom communication. |
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* |
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* This is the main function for the bom node. It is run when the node |
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* starts and initializes the bom. It then advertises the |
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* get_bom_reading service. |
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* |
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* @param argc The number of command line arguments (should be 1) |
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* @param argv The array of command line arguments |
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**/ |
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int main(int argc, char **argv) |
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{ |
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/* Initialize in ROS the bom driver node */ |
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ros::init(argc, argv, "bom_driver"); |
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/* Advertise that this serves the get_bom_reading service */ |
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ros::NodeHandle n; |
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ros::ServiceServer service = n.advertiseService("get_bom_reading", |
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get_data); |
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// Hardware init functions here |
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ROS_INFO("Ready to communicate with the bom."); |
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ros::spin(); |
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return 0; |
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} |
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/** @} **/ |
scout/bom/src/bom.h | ||
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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 bom.h |
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* @brief Contains bom declarations and functions. |
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* |
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* Contains functions and definitions for the use of |
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* bom. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author ジェームス キャロル |
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**/ |
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#ifndef _BOM_H_ |
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#define _BOM_H_ |
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#include "bom/get_bom_reading.h" |
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/** @brief Initialize the bom module and driver. **/ |
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int main(int argc, char **argv); |
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/** @brief Responds to service to get specific bom data**/ |
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bool get_data(bom::get_bom_reading::Request &req, |
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bom::get_bom_reading::Response &res); |
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#endif |
scout/bom/srv/get_bom_reading.srv | ||
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#TODO not sure what magnitude the boms span, ie change the 8 to something right |
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#TODO from sounds weird, think of something better |
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#NOTE; if say a -1 was used for the bom_targ_name, then maybe it would just |
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# > send back the raw data or something. |
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#The number assicoiated with the robot you want to listen for |
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int8 bom_targ_name |
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#Your robot number, just in case you want to pretend to be someone else |
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int8 bom_my_name |
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--- |
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#The data recieved |
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#Of the form: magnitude recieved, from which robot, from which bom on that bot |
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int8 bom0_mag |
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int8 bom0_from |
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int8 bom0_from_bom |
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int8 bom1_mag |
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int8 bom1_from |
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int8 bom1_from_bom |
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int8 bom2_mag |
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int8 bom2_from |
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int8 bom2_from_bom |
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int8 bom3_mag |
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int8 bom3_from |
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int8 bom3_from_bom |
scout/messages/srv/query_sonar.srv | ||
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int8 direction |
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--- |
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#front sonar |
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int16 distance0 |
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#back sonar |
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int16 distance1 |
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