Revision b00761a0
Updated ButtonControl and SonarControl.
Finally, the behavior compiles. Had to fix a lot of problems involving misunderstandings with Publisher/Client/ServiceServer/ServiceClient confusion.
We can now run priya_behavior as an executable, though the process for generating behavior executables still needs some work.
| scout/buttons/src/buttons.cpp | ||
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Priyanka Deo |
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* @author Alex Zirbel |
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**/ |
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#include "ros/ros.h" |
| ... | ... | |
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static int button2_pressed; /**< Whether or not button 2 is pressed. */ |
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/** |
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* @brief Handles button events |
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* |
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* Handles button events based on subscription to the button_event topic. |
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* |
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* @param msg The message from the button_event topic, containing buttons |
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* statuses. |
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*/ |
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void event_button(const buttons::button_event::ConstPtr& msg) |
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{
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//TODO: What goes here? |
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} |
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/** |
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* @brief Outputs whether or not the buttons are pressed. |
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* |
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* Serves the service query_buttons by responding to service requests |
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* with the status of the buttons |
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* @param req The request. The only field is the units requested. |
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* @param res The response. The fields will be filled with values. |
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*/ |
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bool buttons_query(buttons::query_buttons::Request &req, |
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buttons::query_buttons::Response &res) |
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{
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int units = req.units; |
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res.button1_pressed = button1_pressed; |
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res.button2_pressed = button2_pressed; |
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ROS_DEBUG("Button status queried");
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return true; |
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} |
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/** |
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* @brief Buttons driver. This is a ROS node that queries button status. |
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* |
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* This is the main function for the buttons node. It is run |
| ... | ... | |
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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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*/ |
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int main(int argc, char **argv) |
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{
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/* Initialize in ROS the buttons driver node */ |
| ... | ... | |
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/* Advertise that this serves the query_buttons service */ |
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ros::NodeHandle n; |
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ros::ServiceServer service = n.advertiseService("query_buttons",
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buttons_query); |
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/* Subscribe to the button_event topic */
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ros::Subscriber sub0 = n.subscribe("button_event", 4, event_button);
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ros::Publisher pub = n.advertise<buttons::button_event>("button_event",
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QUEUE_SIZE);
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/* Initialize hardware for buttons */ |
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// Hardware init functions here |
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// Publish a button event now and then |
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ROS_INFO("Ready to query buttons.");
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ROS_INFO("Ready to handle buttons. [unimplemented]");
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ros::spin(); |
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return 0; |
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