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/libscout/src/ButtonControl.cpp | ||
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* @author Colony Project, CMU Robotics Club |
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* @author Priyanka Deo |
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* @author Leon Zhang |
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* @author Alex Zirbel |
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**/ |
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#include "ButtonControl.h" |
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/*! |
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using namespace std; |
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/** |
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* @brief Initialize the buttons module of libscout. |
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* |
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* Initialize the libscout node as a subscriber of button_event |
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*/ |
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ButtonControl::ButtonControl(const ros::NodeHandle& libscout_node) : node(libscout_node) |
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ButtonControl::ButtonControl(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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button_event_sub = node.subscribe("button_event", QUEUE_SIZE, event_button);
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button_event_sub = node.subscribe(scoutname + "/button_event", |
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QUEUE_SIZE, |
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&ButtonControl::event_callback, |
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this); |
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} |
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/*!*
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/** |
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* @brief Respond to button events |
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* Sends out button events if buttons are pressed. |
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* Processes message and updates private variables |
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* |
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* @param subscription to button_event message |
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*/ |
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void ButtonControl::event_button(const buttons::button_event::ConstPtr& msg)
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void ButtonControl::event_callback(const buttons::button_event::ConstPtr& msg)
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{
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button1_pressed = msg.button1_pressed;
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button2_pressed = msg.button2_pressed;
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button1_value = msg->button1_pressed;
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button2_value = msg->button2_pressed;
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} |
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/** |
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*@brief check if button 1 is currently being pressed
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* |
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*@return true if button is pressed, otherwise false
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*/ |
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* @brief check if button 1 is currently being pressed
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*
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* @return true if button is pressed, otherwise false
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*/
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bool ButtonControl::button1_is_pressed() |
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{
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return button1_value; |
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} |
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/** |
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*@brief check if button 2 is currently being pressed
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* |
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*@return true if button is pressed, otherwise false
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*/ |
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* @brief check if button 2 is currently being pressed
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*
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* @return true if button is pressed, otherwise false
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*/
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bool ButtonControl::button2_is_pressed() |
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{
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return button2_value; |
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