root / scout / buttons / src / buttons.cpp @ 126fea96
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1 | 04f50f8a | Priya | /**
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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 | c492be62 | Alex Zirbel | */
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25 | 04f50f8a | Priya | |
26 | /**
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27 | * @file buttons.cpp
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28 | * @brief Contains code to control the buttons.
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29 | *
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30 | * @author Colony Project, CMU Robotics Club
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31 | * @author Priyanka Deo
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32 | b00761a0 | Alex Zirbel | * @author Alex Zirbel
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33 | 126fea96 | Alex | *
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34 | 04f50f8a | Priya | * @defgroup buttons Buttons
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35 | * @brief Functions for using the buttons
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36 | *
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37 | * @{
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38 | **/
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39 | |||
40 | 126fea96 | Alex | #include "ros/ros.h" |
41 | #include "buttons.h" |
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42 | #include <cstdlib> |
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43 | |||
44 | 04f50f8a | Priya | /* Button state variables
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45 | */
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46 | static int button1_pressed; /**< Whether or not button 1 is pressed. */ |
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47 | static int button2_pressed; /**< Whether or not button 2 is pressed. */ |
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48 | |||
49 | /**
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50 | 8de28e68 | Priya | * @brief Buttons driver. This is a ROS node that queries button status.
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51 | 04f50f8a | Priya | *
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52 | 8de28e68 | Priya | * This is the main function for the buttons node. It is run
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53 | * when the node starts and initializes the buttons. It then
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54 | * subscribes to the event_button topics, and advertises the
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55 | * query_buttons service.
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56 | 04f50f8a | Priya | *
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57 | * @param argc The number of command line arguments (should be 1)
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58 | * @param argv The array of command line arguments
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59 | b00761a0 | Alex Zirbel | */
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60 | 04f50f8a | Priya | int main(int argc, char **argv) |
61 | { |
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62 | 8de28e68 | Priya | /* Initialize in ROS the buttons driver node */
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63 | ros::init(argc, argv, "buttons_driver");
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64 | 04f50f8a | Priya | |
65 | 8de28e68 | Priya | /* Advertise that this serves the query_buttons service */
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66 | 04f50f8a | Priya | ros::NodeHandle n; |
67 | |||
68 | 6ebee82c | Alex | ros::Publisher pub = n.advertise< ::messages::button_event>("button_event",
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69 | QUEUE_SIZE); |
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70 | 04f50f8a | Priya | |
71 | 8de28e68 | Priya | /* Initialize hardware for buttons */
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72 | 04f50f8a | Priya | // Hardware init functions here
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73 | b00761a0 | Alex Zirbel | |
74 | // Publish a button event now and then
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75 | 04f50f8a | Priya | |
76 | b00761a0 | Alex Zirbel | ROS_INFO("Ready to handle buttons. [unimplemented]");
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77 | 04f50f8a | Priya | ros::spin(); |
78 | |||
79 | return 0; |
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80 | } |
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81 | |||
82 | /** @} **/ |