scoutos / scout / libscout / src / ButtonControl.cpp @ d1cc615c
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1 | 42e8c915 | Leon | /**
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2 | * 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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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * 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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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | * @file ButtonControl.cpp
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29 | * @brief Contains buttons declarations and functions
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30 | *
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31 | * Contains functions and definitions for the use of
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32 | * buttons
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | * @author Priyanka Deo
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36 | * @author Leon Zhang
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37 | **/
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38 | |||
39 | #include "ButtonControl.h" |
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40 | |||
41 | /*!
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42 | * @brief Initialize the buttons module of libscout.
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43 | *
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44 | * Initialize the libscout node as a subscriber of button_event
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45 | */
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46 | ButtonControl::ButtonControl(const ros::NodeHandle& libscout_node) : node(libscout_node)
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47 | { |
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48 | button_event_sub = node.subscribe("button_event", QUEUE_SIZE, event_button);
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49 | } |
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50 | |||
51 | d1cc615c | Leon | /*!*
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52 | 42e8c915 | Leon | * @brief Respond to button events
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53 | * Sends out button events if buttons are pressed.
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54 | * Processes message and updates private variables
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55 | *
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56 | * @param subscription to button_event message
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57 | */
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58 | void ButtonControl::event_button(const buttons::button_event::ConstPtr& msg) |
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59 | { |
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60 | button1_pressed = msg.button1_pressed; |
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61 | button2_pressed = msg.button2_pressed; |
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62 | } |
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63 | |||
64 | /**
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65 | *@brief check if button 1 is currently being pressed
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66 | *
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67 | *@return true if button is pressed, otherwise false
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68 | */
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69 | bool ButtonControl::button1_is_pressed()
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70 | { |
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71 | return button1_value;
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72 | } |
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73 | |||
74 | /**
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75 | *@brief check if button 2 is currently being pressed
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76 | *
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77 | *@return true if button is pressed, otherwise false
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78 | */
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79 | bool ButtonControl::button2_is_pressed()
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80 | { |
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81 | return button2_value;
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82 | } |