Revision a38fa869
wrote metal detector class and messages. Untested.
scout/libscout/CMakeLists.txt | ||
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37 | 37 |
FILE(GLOB TEST_BEHAVIOR_FILES "${PROJECT_SOURCE_DIR}/src/test_behaviors/*.cpp") |
38 | 38 |
FILE(GLOB HELPER_FILES "${PROJECT_SOURCE_DIR}/src/helper_classes/*.cpp") |
39 | 39 |
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set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp) |
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set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp src/MetalDetectorControl.cpp)
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41 | 41 |
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42 | 42 |
rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${TEST_BEHAVIOR_FILES} ${CONTROL_CLASSES} ${HELPER_FILES}) |
43 | 43 |
rosbuild_add_compile_flags(libscout -std=c++0x) |
scout/libscout/src/MetalDetectorControl.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 EncodersControl.cpp |
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* @brief Contains encoder function implementation |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Yuyang Guo |
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*/ |
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#include "MetalDetectorControl.h" |
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using namespace std; |
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/** |
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* @brief Initialize the Metal Detector module of libscout |
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*/ |
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MetalDetectorControl::MetalDetectorControl(const ros::NodeHandle& libscout_node, |
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string scoutname) |
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: node(libscout_node) |
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{ |
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query_client = |
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node.serviceClient< ::messages::query_metal_detector>( |
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scoutname+"/query_metal_detector"); |
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} |
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/** |
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* @brief query the metal detector and return the value |
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*/ |
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bool MetalDetectorControl::query() |
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{ |
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::messages::query_metal_detector srv; |
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bool metal; |
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if (!query_client.call(srv)) |
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{ |
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ROS_ERROR("MetalDetectorControl query failed."); |
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} |
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metal = srv.response.metal; |
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return metal; |
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} |
scout/libscout/src/MetalDetectorControl.h | ||
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/** |
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* 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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* conditions: |
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* |
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13 |
* 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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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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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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/** |
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* @file MetalDetectorControl.h |
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* @brief Contains metal detector declarations and functions |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Yuyang Guo |
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**/ |
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#ifndef _METALDETECTOR_CONTROL_H_ |
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#define _METALDETECTOR_CONTROL_H_ |
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#include <ros/ros.h> |
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#include <messages/query_metal_detector.h> |
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class MetalDetectorControl |
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{ |
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public: |
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/** Set up the metal detector class and prepare to |
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communicate over ROS*/ |
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MetalDetectorControl(const ros::NodeHandle& libscout_node, |
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std::string scoutname); |
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/** Get MetalDetector reading through ROS */ |
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bool query(); |
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private: |
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/* ROS publisher and client declaration */ |
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ros::ServiceClient query_client; |
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ros::NodeHandle node; |
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}; |
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#endif |
scout/messages/srv/query_metal_detector.srv | ||
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--- |
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#true if metal is detected |
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bool metal |
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