Revision 9c0008d0
Fixed CliffsensorControl, now actually part of Behaviors
| scout/libscout/CMakeLists.txt | ||
|---|---|---|
| 29 | 29 |
#rosbuild_add_executable(example examples/example.cpp) |
| 30 | 30 |
#target_link_libraries(example ${PROJECT_NAME})
|
| 31 | 31 |
|
| 32 |
rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp) |
|
| 32 |
rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp) |
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| scout/libscout/manifest.xml | ||
|---|---|---|
| 14 | 14 |
<depend package="headlights"/> |
| 15 | 15 |
<depend package="buttons"/> |
| 16 | 16 |
<depend package="sonar"/> |
| 17 |
<depend package="cliffsensor"/> |
|
| 17 | 18 |
|
| 18 | 19 |
</package> |
| 19 | 20 |
|
| scout/libscout/src/Behavior.cpp | ||
|---|---|---|
| 53 | 53 |
motors = new MotorControl(node, scoutname); |
| 54 | 54 |
buttons = new ButtonControl(node, scoutname); |
| 55 | 55 |
sonar = new SonarControl(node, scoutname); |
| 56 |
cliffsensor = new CliffsensorControl(node, scoutname); |
|
| 56 | 57 |
|
| 57 | 58 |
loop_rate = new ros::Rate(10); |
| 58 | 59 |
} |
| scout/libscout/src/Behavior.h | ||
|---|---|---|
| 43 | 43 |
#include "HeadlightControl.h" |
| 44 | 44 |
#include "ButtonControl.h" |
| 45 | 45 |
#include "SonarControl.h" |
| 46 |
#include "CliffsensorControl.h" |
|
| 46 | 47 |
#include "constants.h" |
| 47 | 48 |
|
| 48 | 49 |
class Behavior |
| ... | ... | |
| 64 | 65 |
MotorControl * motors; |
| 65 | 66 |
ButtonControl * buttons; |
| 66 | 67 |
SonarControl * sonar; |
| 68 |
CliffsensorControl * cliffsensor; |
|
| 67 | 69 |
|
| 68 | 70 |
// Wrappers for ROS functions |
| 69 | 71 |
bool ok(); |
| scout/libscout/src/CliffsensorControl.cpp | ||
|---|---|---|
| 52 | 52 |
* starts and initializes the cliffsensors. It then subscribes to the |
| 53 | 53 |
* cliff_status_changed topics |
| 54 | 54 |
**/ |
| 55 |
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) : node(libscout_node) |
|
| 55 |
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node, |
|
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std::string scoutname) : node(libscout_node) |
|
| 56 | 57 |
{
|
| 57 | 58 |
/* Subscribe to the cliff_status_changed topic */ |
| 58 | 59 |
cliff_status_changed_sub = node.subscribe("cliff_status_changed",
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QUEUE_SIZE, changed_cliff_status);
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QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
|
|
| 60 | 61 |
|
| 61 | 62 |
ros::spin(); |
| 62 | 63 |
} |
| ... | ... | |
| 72 | 73 |
*/ |
| 73 | 74 |
void CliffsensorControl::changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg) |
| 74 | 75 |
{
|
| 75 |
front_raw = msg.front_raw;
|
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left_raw = msg.left_raw;
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right_raw = msg.right_raw;
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front_raw = msg->front_raw;
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left_raw = msg->left_raw;
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right_raw = msg->right_raw;
|
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| 78 | 79 |
return; |
| 79 | 80 |
} |
| 80 | 81 |
|
| scout/libscout/src/CliffsensorControl.h | ||
|---|---|---|
| 38 | 38 |
#ifndef _CLIFFSENSOR_H_ |
| 39 | 39 |
#define _CLIFFSENSOR_H_ |
| 40 | 40 |
|
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#include "cliffsensor/query_cliff.h" |
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#include "cliffsensor/cliff_status_changed.h" |
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#include <cliffsensor/query_cliff.h> |
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#include <cliffsensor/cliff_status_changed.h> |
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#include "constants.h" |
|
| 43 | 44 |
|
| 44 | 45 |
#define CLIFF_DETECTED 0x0 |
| 45 | 46 |
#define NO_CLIFF 0x1 |
| ... | ... | |
| 47 | 48 |
class CliffsensorControl |
| 48 | 49 |
{
|
| 49 | 50 |
public: |
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CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) ;
|
|
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CliffsensorControl(const ros::NodeHandle& libscout_node, std::string scoutname);
|
|
| 51 | 52 |
|
| 52 | 53 |
/** @brief Responds to topic to change cliff sensor status. **/ |
| 53 |
void changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg); |
|
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void changed_cliff_status( |
|
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const cliffsensor::cliff_status_changed::ConstPtr& msg); |
|
| 54 | 56 |
|
| 55 | 57 |
int get_front_raw(); |
| 56 | 58 |
int get_left_raw(); |
| ... | ... | |
| 60 | 62 |
private: |
| 61 | 63 |
/* Cliffsensor state variables |
| 62 | 64 |
*/ |
| 63 |
int front_raw; /**< The current raw value data of the front cliffsensor. */ |
|
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int left_raw; /**< The current raw value data of the left cliffsensor. */ |
|
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int right_raw; /**< The current raw value data of the right cliffsensor. */ |
|
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int front_raw; /**< The current raw value |
|
| 66 |
data of the front cliffsensor. */ |
|
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int left_raw; /**< The current raw value data of |
|
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the left cliffsensor. */ |
|
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int right_raw; /**< The current raw value data of |
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the right cliffsensor. */ |
|
| 66 | 71 |
|
| 67 | 72 |
ros::Subscriber cliff_status_changed_sub; |
| 68 |
|
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} |
|
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ros::NodeHandle node; |
|
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};
|
|
| 70 | 75 |
|
| 71 | 76 |
#endif |
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