Revision 42e8c915
ID | 42e8c915f1e124379d079086eb026035d799232e |
Rewrote libbuttons to use objects (ButtonControl).
Also removed query_motors (motors node now responsible for publishing changes)
bugfix: removed -lmotors from manifest files (causing rosmake errors)
scout/libscout/src/ButtonControl.cpp | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file ButtonControl.cpp |
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* @brief Contains buttons declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* buttons |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Priyanka Deo |
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* @author Leon Zhang |
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**/ |
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#include "ButtonControl.h" |
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/*! |
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* @brief Initialize the buttons module of libscout. |
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* |
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* Initialize the libscout node as a subscriber of button_event |
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*/ |
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ButtonControl::ButtonControl(const ros::NodeHandle& libscout_node) : node(libscout_node) |
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{ |
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button_event_sub = node.subscribe("button_event", QUEUE_SIZE, event_button); |
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} |
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/*! |
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* @brief Respond to button events |
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* Sends out button events if buttons are pressed. |
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* Processes message and updates private variables |
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* |
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* @param subscription to button_event message |
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*/ |
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void ButtonControl::event_button(const buttons::button_event::ConstPtr& msg) |
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{ |
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button1_pressed = msg.button1_pressed; |
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button2_pressed = msg.button2_pressed; |
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} |
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/** |
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*@brief check if button 1 is currently being pressed |
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* |
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*@return true if button is pressed, otherwise false |
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*/ |
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bool ButtonControl::button1_is_pressed() |
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{ |
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return button1_value; |
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} |
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/** |
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*@brief check if button 2 is currently being pressed |
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* |
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*@return true if button is pressed, otherwise false |
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*/ |
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bool ButtonControl::button2_is_pressed() |
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{ |
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return button2_value; |
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} |
scout/libscout/src/ButtonControl.h | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
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* Software is furnished to do so, subject to the following |
|
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
|
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* included in all copies or substantial portions of the Software. |
|
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file ButtonControl.h |
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* @brief Contains buttons declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* buttons |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Priyanka Deo |
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* @author Leon Zhang |
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**/ |
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#include "libscout/constants.h" |
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#include "buttons/button_event.h" |
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#ifndef _LIBBUTTONS_H_ |
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#define _LIBBUTTONS_H_ |
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class ButtonControl |
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{ |
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public: |
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/** set up buttons node and prepare to communicate over ROS**/ |
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ButtonControl(const ros::NodeHandle& libscout_node); |
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void event_button(const buttons::button_event::ConstPtr& msg); |
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bool button1_is_pressed(); |
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bool button2_is_pressed(); |
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private: |
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bool button1_value; |
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bool button2_value; |
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/* ROS node created in libscout.cpp */ |
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ros::NodeHandle node; |
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/** ROS subscriber declaration */ |
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ros::Subscriber button_event_sub; |
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} |
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#endif |
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