Revision c492be62
Updated the licensing information in many files.
This is a broken commit because I decided to do this at a bad time. Sorry! The build will be working after next commit, I promise (and I won't push till then). This commit reflects the licensing in the files after I used my auto-add/remove script.
scout/libscout/src/SonarControl.cpp | ||
---|---|---|
21 | 21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
22 | 22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
23 | 23 |
* OTHER DEALINGS IN THE SOFTWARE. |
24 |
**/
|
|
24 |
*/ |
|
25 | 25 |
|
26 | 26 |
/** |
27 | 27 |
* @file SonarControl.cpp |
28 |
* @brief Contains sonar function imeplementations
|
|
28 |
* @brief Contains sonar function implementation
|
|
29 | 29 |
* |
30 | 30 |
* Contains functions for the use of sonar control. |
31 | 31 |
* |
32 | 32 |
* @author Colony Project, CMU Robotics Club |
33 | 33 |
* @author Priyanka Deo |
34 |
* @author Alex Zirbel |
|
34 | 35 |
**/ |
35 | 36 |
|
36 | 37 |
#include "SonarControl.h" |
37 | 38 |
|
39 |
using namespace std; |
|
40 |
|
|
38 | 41 |
/** |
39 | 42 |
* @brief Initialize the sonar module of libscout. |
40 | 43 |
* |
41 | 44 |
* Initialize the libscout node as a publisher of sonar_set_scan and |
42 | 45 |
* sonar_toggle and a client of query_sonar. |
43 | 46 |
*/ |
44 |
SonarControl::SonarControl(const ros::NodeHandle& libscout_node) |
|
47 |
SonarControl::SonarControl(const ros::NodeHandle& libscout_node, |
|
48 |
string scoutname) |
|
45 | 49 |
: node(libscout_node) |
46 | 50 |
{ |
47 | 51 |
sonar_set_scan_pub = |
48 |
node.advertise<sonar::sonar_set_scan>("set_sonar_scan", QUEUE_SIZE); |
|
52 |
node.advertise<sonar::sonar_set_scan>(scoutname + "/set_sonar_scan", |
|
53 |
QUEUE_SIZE); |
|
49 | 54 |
sonar_toggle_pub = |
50 |
node.advertise<sonar::sonar_toggle>("toggle_sonar", QUEUE_SIZE); |
|
51 |
query_sonar = |
|
52 |
node.serviceClient<sonar::sonar_direction>("query_sonar"); |
|
55 |
node.advertise<sonar::sonar_toggle>(scoutname + "/toggle_sonar", |
|
56 |
QUEUE_SIZE); |
|
57 |
sonar_distance_sub = node.subscribe(scoutname + "sonar_distance", |
|
58 |
QUEUE_SIZE, distance_callback); |
|
59 |
|
|
60 |
// Initialize all the sonar readings to 0 and timestamps to undefined |
|
61 |
for (int i = 0; i < 48; i++) |
|
62 |
{ |
|
63 |
readings[i] = 0; |
|
64 |
timestamps[i] = ros::Time::now(); // A common shortcut for no reading |
|
65 |
} |
|
66 |
} |
|
67 |
|
|
68 |
/** |
|
69 |
* Update the array of sonar values, and the last read timestamps, |
|
70 |
* to reflect the new reading received. |
|
71 |
*/ |
|
72 |
void SonarControl::distance_callback(const sonar::sonar_distance::ConstPtr& msg) |
|
73 |
{ |
|
74 |
// Error checking so that the array doesn't cause a segfault |
|
75 |
if (msg->pos < 0 || msg-> pos > 23) |
|
76 |
{ |
|
77 |
ROS_ERROR("SonarControl received an invalid sonar position."); |
|
78 |
return; |
|
79 |
} |
|
80 |
|
|
81 |
readings[msg->pos] = msg->distance0; |
|
82 |
readings[msg->pos + 24] = msg->distance1; |
|
83 |
timestamps[msg->pos] = msg->header.stamp; |
|
84 |
timestamps[msg->pos + 24] = msg->header.stamp; |
|
53 | 85 |
} |
54 | 86 |
|
55 | 87 |
/** |
... | ... | |
57 | 89 |
* |
58 | 90 |
* @param position Value between 0-180 of degree position to set sonar |
59 | 91 |
* @return NONE |
92 |
* @todo should return bool. See below. |
|
60 | 93 |
*/ |
61 |
void SonarControl::set(int position) |
|
94 |
void SonarControl::set_single(int position)
|
|
62 | 95 |
{ |
63 | 96 |
set_range(position, position); |
64 | 97 |
} |
... | ... | |
69 | 102 |
* @param start_pos The leftmost (smallest) value that the sonar can take |
70 | 103 |
* @param end_pos The rightmost (largest) value that the sonar can take |
71 | 104 |
* @return NONE |
105 |
* @todo Also misimplemented, should return bool. Look at srv def in sonar/ |
|
72 | 106 |
*/ |
73 | 107 |
void SonarControl::set_range(int start_pos, int end_pos) |
74 | 108 |
{ |
75 |
/** Turn sonar on */ |
|
109 |
// Check that the range is valid |
|
110 |
if (start_pos < 0 || end_pos < 0 || start_pos > 23 || end_pos > 23) |
|
111 |
{ |
|
112 |
ROS_ERROR("Commanded SonarControl::set_range to a bad value."); |
|
113 |
return; |
|
114 |
} |
|
115 |
|
|
116 |
// Sort the start and end positions into increasing order |
|
117 |
if (start_pos > end_pos) |
|
118 |
{ |
|
119 |
int temp = start_pos; |
|
120 |
start_pos = end_pos; |
|
121 |
end_pos = temp; |
|
122 |
} |
|
123 |
|
|
124 |
// Turn sonar on |
|
76 | 125 |
sonar::sonar_toggle on_msg; |
77 | 126 |
on_msg.set_on = true; |
78 | 127 |
sonar_toggle_pub.publish(on_msg); |
79 | 128 |
|
80 |
/** Set scan range */
|
|
129 |
// Set scan range
|
|
81 | 130 |
sonar::sonar_set_scan msg; |
82 |
|
|
83 |
//TODO Enable some checks of start and end position |
|
84 | 131 |
msg.stop_l = start_pos; |
85 | 132 |
msg.stop_r = end_pos; |
86 | 133 |
|
87 | 134 |
sonar_set_scan_pub.publish(msg); |
88 |
ros::spinOnce(); |
|
135 |
ros::spinOnce(); ///<! Sure? Does this belong here?
|
|
89 | 136 |
} |
90 | 137 |
|
91 | 138 |
/** |
92 | 139 |
* @brief Turn off sonar readings |
93 | 140 |
* |
94 | 141 |
* Stops sonar from panning and taking readings. |
142 |
* @todo Misimplemented. Needs to use a service call and return the ack as bool |
|
95 | 143 |
* |
96 | 144 |
* @return NONE |
97 | 145 |
*/ |
98 | 146 |
float SonarControl::set_off() |
99 | 147 |
{ |
100 |
/** Turn sonar off */ |
|
101 | 148 |
sonar::sonar_toggle on_msg; |
102 | 149 |
on_msg.set_on = false; |
103 | 150 |
sonar_toggle_pub.publish(on_msg); |
104 | 151 |
} |
105 |
/** |
|
106 |
* @brief Query the current front sonar readings |
|
107 |
* |
|
108 |
* Sends a request to the query_sonar service which will reply with the |
|
109 |
* current readings of the sonar. |
|
110 |
* |
|
111 |
* @TODO Change so we can get multiple sonar readings with one call |
|
112 |
* |
|
113 |
* @return The reading of the front sonar |
|
114 |
*/ |
|
115 |
float SonarControl::query_front() |
|
116 |
{ |
|
117 |
sonar::sonar_direction srv; |
|
118 |
if(query_sonar.call(srv)) |
|
119 |
{ |
|
120 |
srv.response.distance0; |
|
121 |
} |
|
122 |
else |
|
123 |
{ |
|
124 |
ROS_FATAL("Failed to call service query_motors"); |
|
125 |
} |
|
126 |
|
|
127 |
return 0; |
|
128 |
} |
|
129 |
|
|
130 |
/** |
|
131 |
* @brief Query the current back sonar readings |
|
132 |
* |
|
133 |
* Sends a request to the query_sonar service which will reply with the |
|
134 |
* current readings of the sonar. |
|
135 |
* |
|
136 |
* @TODO Change so we can get multiple sonar readings with one call |
|
137 |
* |
|
138 |
* @return The reading of the back sonar |
|
139 |
*/ |
|
140 |
float SonarControl::query_back() |
|
141 |
{ |
|
142 |
sonar::sonar_direction srv; |
|
143 |
if(query_sonar.call(srv)) |
|
144 |
{ |
|
145 |
srv.response.distance1; |
|
146 |
} |
|
147 |
else |
|
148 |
{ |
|
149 |
ROS_FATAL("Failed to call service query_motors"); |
|
150 |
} |
|
151 |
|
|
152 |
return 0; |
|
153 |
} |
|
154 | 152 |
|
155 | 153 |
/** |
156 | 154 |
* @brief Converts value returne by sonar to physical distances. |
... | ... | |
158 | 156 |
* @param sonar_value The returned value of the sonar |
159 | 157 |
* @return The physical distance measured by the sonar. |
160 | 158 |
**/ |
161 |
float sonar_to_dist(float sonar_value) |
|
162 |
{ |
|
159 |
//float sonar_to_dist(float sonar_value)
|
|
160 |
//{
|
|
163 | 161 |
//TODO impelement later based on sonar readings |
164 |
return sonar_value; |
|
165 |
} |
|
162 |
// return sonar_value;
|
|
163 |
//}
|
|
166 | 164 |
|
167 | 165 |
/** |
168 | 166 |
* @brief Converts values from physical distances to values read by sonar |
... | ... | |
170 | 168 |
* @param distance The physical distance as measured. |
171 | 169 |
* @return The value read by the sonar that corresponds to the given distance |
172 | 170 |
**/ |
173 |
float dist_to_sonar(float distance) |
|
174 |
{ |
|
171 |
//float dist_to_sonar(float distance)
|
|
172 |
//{
|
|
175 | 173 |
//TODO implement later based on sonar readings |
176 |
return distance; |
|
177 |
} |
|
174 |
// return distance; |
|
175 |
//} |
Also available in: Unified diff