Project

General

Profile

Revision a38fa869

IDa38fa86943157d18d03b6bb508d695076dfa7d97
Parent 98a7f961
Child 34a60a3b

Added by Yuyang Guo almost 11 years ago

wrote metal detector class and messages. Untested.

View differences:

scout/libscout/CMakeLists.txt
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

  
40
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)
40
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)
41 41

  
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
1
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 */
25

  
26
/**
27
 * @file EncodersControl.cpp
28
 * @brief Contains encoder function implementation
29
 * 
30
 * @author Colony Project, CMU Robotics Club
31
 * @author Yuyang Guo
32
 */
33

  
34
#include "MetalDetectorControl.h"
35

  
36
using namespace std;
37

  
38
/**
39
 * @brief Initialize the Metal Detector module of libscout
40
 */
41
MetalDetectorControl::MetalDetectorControl(const ros::NodeHandle& libscout_node,
42
                string scoutname)
43
    : node(libscout_node)
44
{
45
    query_client = 
46
            node.serviceClient< ::messages::query_metal_detector>(
47
                    scoutname+"/query_metal_detector");
48
}
49

  
50
/**
51
 * @brief query the metal detector and return the value
52
 */
53
bool MetalDetectorControl::query()
54
{
55
    ::messages::query_metal_detector srv;
56
    bool metal;
57

  
58
    if (!query_client.call(srv))
59
    {
60
        ROS_ERROR("MetalDetectorControl query failed.");
61
    }
62
    metal = srv.response.metal;
63

  
64
    return metal;
65
}
scout/libscout/src/MetalDetectorControl.h
1
/**
2
 * Copyright (c) 2011 Colony Project
3
 * 
4
 * Permission is hereby granted, free of charge, to any person
5
 * obtaining a copy of this software and associated documentation
6
 * files (the "Software"), to deal in the Software without
7
 * restriction, including without limitation the rights to use,
8
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
9
 * copies of the Software, and to permit persons to whom the
10
 * Software is furnished to do so, subject to the following
11
 * conditions:
12
 * 
13
 * The above copyright notice and this permission notice shall be
14
 * included in all copies or substantial portions of the Software.
15
 * 
16
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
18
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
20
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
21
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
22
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
23
 * OTHER DEALINGS IN THE SOFTWARE.
24
 */
25

  
26
/**
27
 * @file MetalDetectorControl.h
28
 * @brief Contains metal detector declarations and functions
29
 *
30
 * @author Colony Project, CMU Robotics Club
31
 * @author Yuyang Guo
32
 **/
33

  
34
#ifndef _METALDETECTOR_CONTROL_H_
35
#define _METALDETECTOR_CONTROL_H_
36

  
37
#include <ros/ros.h>
38
#include <messages/query_metal_detector.h>
39
class MetalDetectorControl
40
{
41
    public:
42
        /** Set up the metal detector class and prepare to 
43
            communicate over ROS*/
44
        MetalDetectorControl(const ros::NodeHandle& libscout_node,
45
                            std::string scoutname);
46
        
47
        /** Get MetalDetector reading through ROS */
48
        bool query();
49
    
50
    private:
51
        
52
        /* ROS publisher and client declaration */
53
        ros::ServiceClient query_client;
54
        ros::NodeHandle node;
55

  
56
};
57

  
58
#endif
scout/messages/srv/query_metal_detector.srv
1
---
2
#true if metal is detected
3
bool metal

Also available in: Unified diff