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 libheadlights.cpp

 * @brief Contains headlights declarations and functions

 * 

 * Contains functions and definitions for the use of

 * headlights

 *

 * @author Colony Project, CMU Robotics Club

 * @author Ben Wasserman

 **/

#include "libheadlights.h"

/* ROS node created in libscout.cpp */

extern ros::NodeHandle libscout_node;

/** ROS publisher and client declaration */

ros::Publisher set_headlights_publisher;

/*!

 * \brief Initialize the headlights module of libscout.

 *

 * Initialize the libscout node as a publisher of set_headlights.

 */

void libheadlights_init()

{

  set_headlights_publisher =

                libscout_node.advertise<headlights::set_headlights>("libheadlights", 10);

}

/*!

 * \brief Set headlight colors as a single RGB value

 * Sets the colors of the headlights as a web color value. Can selectively

 * select which motors to set, and which to remain at previous color.

 * \param color The color the headlights should be set to expressed as 0xRRGGBB

 * \param which A bitmask of which headlights should be set

 * \return Function status

 */

int headlights_set(int color, int which)

{

  int red, green, blue;

        red = (color & RED) >> REDSHIFT;

        green = (color & GREEN) >> GREENSHIFT;

        blue = (color & BLUE) >> BLUESHIFT;

        return headlights_set_rgb(red, green, blue, which);

}

/*!

 * \brief Set headlight colors as separate RGB values

 * Sets the colors of the headlights as a web color value. Can selectively

 * select which motors to set, and which to remain at previous color.

 * \param red The red value the headlights should be set to

 * \param green The green value the headlights should be set to

 * \param blue The blue value the headlights should be set to

 * \param which A bitmask of which headlights should be set

 * \return Function status

 */

int headlights_set_rgb(int red, int green, int blue, int which)

{

  /** \todo Set fields of the message based on params */

        headlights::set_headlights msg;

  if(!ros::ok())

        {

    return LIB_ERROR;

  }

        if(which & HL_LEFT)

        {

                left_red = red;

                left_green = green;

                left_blue = blue;

        }

        if(which & HL_RIGHT)

        {

                right_red = red;

                right_green = green;

                right_blue = blue;

        }

  /* Publishes message to set_motors topic */

  set_headlights_publisher.publish(msg);

  ros::spinOnce();

  return LIB_OK;

}