root / scout / libscout / src / HeadlightControl.cpp @ 3a73516c
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1 | a8480867 | Alex Zirbel | /**
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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 | /**
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27 | * @file HeadlightControl.cpp
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28 | * @brief Contains headlights declarations and functions
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29 | *
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30 | 3a73516c | Alex | * @defgroup headlightcontrol HeadlightControl
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31 | * @brief Functions which a behavior can use to control the headlights.
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32 | * @ingroup behavior
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33 | a8480867 | Alex Zirbel | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | * @author Ben Wasserman
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36 | * @author Alex Zirbel
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37 | */
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38 | |||
39 | #include "HeadlightControl.h" |
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40 | |||
41 | cc558a8d | Alex Zirbel | using namespace std; |
42 | |||
43 | a8480867 | Alex Zirbel | /** ROS publisher and client declaration */
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44 | |||
45 | /**
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46 | * @brief Initialize the headlights module of libscout.
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47 | *
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48 | * Initialize the libscout node as a publisher of set_headlights.
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49 | */
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50 | cc558a8d | Alex Zirbel | HeadlightControl::HeadlightControl(const ros::NodeHandle& libscout_node,
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51 | string scoutname)
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52 | a8480867 | Alex Zirbel | : node(libscout_node) |
53 | { |
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54 | 071926c2 | Alex | set_headlights_pub = node.advertise< ::messages::set_headlights> |
55 | cfdb3afa | Alex | (scoutname + "/set_headlights", QUEUE_SIZE, true); |
56 | a8480867 | Alex Zirbel | } |
57 | |||
58 | /**
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59 | * @brief Set headlight colors as a single RGB value
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60 | *
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61 | * Sets the colors of the headlights as a web color value. Can selectively
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62 | * select which motors to set, and which to remain at previous color.
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63 | * @param color The color the headlights should be set to expressed as 0xRRGGBB
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64 | * @param which A bitmask of which headlights should be set
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65 | */
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66 | void HeadlightControl::set(int color, int which) |
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67 | { |
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68 | int red, green, blue;
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69 | |||
70 | red = (color & RED) >> REDSHIFT; |
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71 | green = (color & GREEN) >> GREENSHIFT; |
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72 | blue = (color & BLUE) >> BLUESHIFT; |
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73 | |||
74 | set_rgb(red, green, blue, which); |
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75 | } |
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76 | |||
77 | /**
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78 | * @brief Set headlight colors as separate RGB values
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79 | *
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80 | * Sets the colors of the headlights as a web color value. Can selectively
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81 | * select which motors to set, and which to remain at previous color.
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82 | * @param red The red value the headlights should be set to
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83 | * @param green The green value the headlights should be set to
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84 | * @param blue The blue value the headlights should be set to
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85 | * @param which A bitmask of which headlights should be set
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86 | */
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87 | void HeadlightControl::set_rgb(int red, int green, int blue, int which) |
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88 | { |
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89 | 071926c2 | Alex | ::messages::set_headlights msg; |
90 | a8480867 | Alex Zirbel | |
91 | if(which & HL_LEFT)
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92 | { |
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93 | msg.left_red = red; |
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94 | msg.left_green = green; |
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95 | msg.left_blue = blue; |
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96 | } |
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97 | else
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98 | { |
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99 | msg.left_red = NO_SET; |
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100 | msg.left_green = NO_SET; |
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101 | msg.left_blue = NO_SET; |
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102 | } |
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103 | if(which & HL_RIGHT)
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104 | { |
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105 | msg.right_red = red; |
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106 | msg.right_green = green; |
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107 | msg.right_blue = blue; |
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108 | } |
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109 | else
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110 | { |
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111 | msg.right_red = NO_SET; |
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112 | msg.right_green = NO_SET; |
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113 | msg.right_blue = NO_SET; |
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114 | } |
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115 | |||
116 | /* Publishes message to set_motors topic */
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117 | set_headlights_pub.publish(msg); |
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118 | ros::spinOnce(); |
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119 | } |
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120 | 3a73516c | Alex | |
121 | /** @} */ |