root / scout / cliffsensor / src / cliffsensor.cpp @ 3493418f
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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 cliffsensor.cpp
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| 28 | * @brief Contains code to control the cliffsensor.
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| 29 | *
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| 30 | * Implementation of functions for cliffsensor use.
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| 31 | *
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| 32 | * @author Colony Project, CMU Robotics Club
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| 33 | * @author Priyanka Deo
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| 34 | **/
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| 35 | |||
| 36 | #include "ros/ros.h" |
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| 37 | #include "cliffsensor.h" |
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| 38 | #include <cstdlib> |
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| 39 | |||
| 40 | /**
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| 41 | * @defgroup cliffsensor Cliffsensor
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| 42 | * @brief Functions for using the cliffsensors
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| 43 | *
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| 44 | * @{
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| 45 | **/
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| 46 | |||
| 47 | /* Cliffsensor state variables
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| 48 | */
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| 49 | static int front_raw; /**< The current raw value data of the front cliffsensor. */ |
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| 50 | static int left_raw; /**< The current raw value data of the left cliffsensor. */ |
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| 51 | static int back_raw; /**< The current raw value data of the right cliffsensor. */ |
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| 52 | static bool is_cliff; /**< Boolean to represent whether or not there is a cliff. */ |
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| 53 | |||
| 54 | /**
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| 55 | 75a7571a | Priya | * @brief Changes cliff sensor status
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| 56 | 04f50f8a | Priya | *
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| 57 | 75a7571a | Priya | * Changes cliff sensor status based on subscription to topic cliff_status_changed
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| 58 | 04f50f8a | Priya | *
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| 59 | 75a7571a | Priya | * @param msg The message from the cliff_status_changed topic, containing
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| 60 | * status of all cliff sensors.
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| 61 | 04f50f8a | Priya | */
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| 62 | 75a7571a | Priya | void changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg) |
| 63 | 04f50f8a | Priya | {
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| 64 | 75a7571a | Priya | return;
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| 65 | 04f50f8a | Priya | } |
| 66 | |||
| 67 | /**
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| 68 | 75a7571a | Priya | * @brief Outputs status of cliffsensors
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| 69 | 04f50f8a | Priya | *
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| 70 | 75a7571a | Priya | * Serves the service query_cliff by responding to service requests with the
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| 71 | * status of the cliff sensors.
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| 72 | 04f50f8a | Priya | * @param req The request. The only field is the units requested.
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| 73 | * @param res The response. The fields will be filled with values.
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| 74 | */
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| 75 | 75a7571a | Priya | bool cliff_query(cliffsensor::query_cliff::Request &req,
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| 76 | cliffsensor::query_cliff::Response &res) |
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| 77 | 04f50f8a | Priya | {
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| 78 | 75a7571a | Priya | int threshold = 500; //TODO fix after figuring out what sensors give us |
| 79 | res.front_raw = front_raw; |
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| 80 | res.left_raw = left_raw; |
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| 81 | res.right_raw = back_raw; |
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| 82 | res.cliff_status = is_cliff; |
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| 83 | 04f50f8a | Priya | |
| 84 | 75a7571a | Priya | ROS_DEBUG("Cliffsensor status queried");
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| 85 | 04f50f8a | Priya | return true; |
| 86 | } |
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| 87 | |||
| 88 | /**
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| 89 | 75a7571a | Priya | * @brief Cliffsensor driver. This is a ROS node that controls cliffsensor status.
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| 90 | 04f50f8a | Priya | *
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| 91 | 75a7571a | Priya | * This is the main function for the cliffsensors node. It is run when the node
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| 92 | * starts and initializes the cliffsensors. It then subscribes to the
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| 93 | * cliff_status_changed topics, and advertises the
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| 94 | * query_cliff service.
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| 95 | 04f50f8a | Priya | *
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| 96 | * @param argc The number of command line arguments (should be 1)
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| 97 | * @param argv The array of command line arguments
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| 98 | **/
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| 99 | int main(int argc, char **argv) |
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| 100 | {
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| 101 | 75a7571a | Priya | /* Initialize in ROS the cliffsensor driver node */
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| 102 | ros::init(argc, argv, "cliffsensor_driver");
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| 103 | 04f50f8a | Priya | |
| 104 | 75a7571a | Priya | /* Advertise that this serves the query_cliff service */
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| 105 | 04f50f8a | Priya | ros::NodeHandle n; |
| 106 | 75a7571a | Priya | ros::ServiceServer service = n.advertiseService("query_cliff",
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| 107 | cliff_query); |
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| 108 | 04f50f8a | Priya | |
| 109 | 75a7571a | Priya | /* Subscribe to the cliff_status_changed topic */
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| 110 | ros::Subscriber sub0 = n.subscribe("cliff_status_changed",
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| 111 | 4, changed_cliff_status);
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| 112 | 04f50f8a | Priya | |
| 113 | 75a7571a | Priya | /* Initialize hardware for cliffsensors */
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| 114 | 04f50f8a | Priya | // Hardware init functions here
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| 115 | |||
| 116 | 75a7571a | Priya | ROS_INFO("Ready to query cliffsensors.");
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| 117 | 04f50f8a | Priya | ros::spin(); |
| 118 | |||
| 119 | return 0; |
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| 120 | } |
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| 121 | |||
| 122 | /** @} **/ |