Revision 65c7f52b
ID | 65c7f52bb1c6183c6ab2a09be2a1c83c3a925eed |
Created SonarControl files. Not tested and therefore not included in libscout interface yet.
scout/libscout/src/SonarControl.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 SonarControl.cpp |
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* @brief Contains sonar function imeplementations |
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* |
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* Contains functions for the use of sonar control. |
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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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**/ |
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#include "SonarControl.h" |
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/** |
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* @brief Initialize the sonar module of libscout. |
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* |
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* Initialize the libscout node as a publisher of sonar_set_scan and |
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* sonar_toggle and a client of query_sonar. |
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*/ |
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SonarControl::SonarControl(const ros::NodeHandle& libscout_node) |
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: node(libscout_node) |
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{ |
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sonar_set_scan_pub = |
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node.advertise<sonar::sonar_set_scan>("set_sonar_scan", QUEUE_SIZE); |
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sonar_toggle_pub = |
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node.advertise<sonar::sonar_toggle>("toggle_sonar", QUEUE_SIZE); |
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query_sonar = |
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node.serviceClient<sonar::sonar_direction>("query_sonar"); |
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} |
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/** |
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* @brief Sets the sonar to a position. |
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* |
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* @param position Value between 0-180 of degree position to set sonar |
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* @return NONE |
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*/ |
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void SonarControl::set(int position) |
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{ |
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set_range(position, position); |
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} |
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/** |
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* @brief Sets the sonar to scan between two positions |
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* |
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* @param start_pos The leftmost (smallest) value that the sonar can take |
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* @param end_pos The rightmost (largest) value that the sonar can take |
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* @return NONE |
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*/ |
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void SonarControl::set_range(int start_pos, int end_pos) |
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{ |
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//TODO Enable some checks of start and end position |
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sonar::sonar_set_scan msg; |
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msg.stop_l = start_pos; |
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msg.stop_r = end_pos; |
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sonar_set_scan_pub.publish(msg); |
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ros::spinOnce(); |
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} |
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/** |
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* @brief Query the current front sonar readings |
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* |
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* Sends a request to the query_sonar service which will reply with the |
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* current readings of the sonar. |
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* |
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* @TODO Change so we can get multiple sonar readings with one call |
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* |
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* @return The reading of the front sonar or LIB_ERR. |
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*/ |
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float SonarControl::query_front() |
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{ |
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sonar::sonar_direction srv; |
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if(query_sonar.call(srv)) |
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{ |
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srv.response.distance0; |
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} |
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else |
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{ |
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ROS_ERROR("Failed to call service query_motors"); |
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return LIB_ERROR; |
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} |
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return 0; |
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} |
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/** |
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* @brief Query the current back sonar readings |
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* |
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* Sends a request to the query_sonar service which will reply with the |
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* current readings of the sonar. |
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* |
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* @TODO Change so we can get multiple sonar readings with one call |
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* |
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* @return The reading of the back sonar or LIB_ERR. |
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*/ |
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float SonarControl::query_back() |
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{ |
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sonar::sonar_direction srv; |
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if(query_sonar.call(srv)) |
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{ |
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srv.response.distance1; |
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} |
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else |
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{ |
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ROS_ERROR("Failed to call service query_motors"); |
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return LIB_ERROR; |
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} |
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return 0; |
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} |
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/** |
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* @brief Converts value returne by sonar to physical distances. |
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* |
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* @param sonar_value The returned value of the sonar |
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* @return The physical distance measured by the sonar. |
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**/ |
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float sonar_to_dist(float sonar_value) |
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{ |
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//TODO impelement later based on sonar readings |
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return sonar_value; |
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} |
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/** |
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* @brief Converts values from physical distances to values read by sonar |
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* |
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* @param distance The physical distance as measured. |
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* @return The value read by the sonar that corresponds to the given distance |
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**/ |
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float dist_to_sonar(float distance) |
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{ |
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//TODO implement later based on sonar readings |
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return distance; |
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} |
scout/libscout/src/SonarControl.h | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* 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, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* 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 SonarControl.h |
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* @brief Contains sonar declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* sonar |
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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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**/ |
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#ifndef _SONAR_CONTROL_H_ |
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#define _SONAR_CONTROL_H_ |
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#include <ros/ros.h> |
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/// @TODO maybe not so good! Then packages have to depend on libscout. |
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#include <libscout/constants.h> |
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#include <sonar/sonar_set_scan.h> |
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#include <sonar/sonar_toggle.h> |
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#include <sonar/sonar_direction.h> |
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class SonarControl |
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{ |
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public: |
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/** Set up the motor node and prepare to communicate over ROS */ |
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SonarControl(const ros::NodeHandle& libscout_node); |
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/** Sets sonar to a position (0-180 deg) specified by input */ |
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void set(int position); |
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/** Sets sonar to scan a range in 0-180 specified by input */ |
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void set_range(int start_pos, int end_pos); |
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/** Returns the distance readings of sonars */ |
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float query_front(void); |
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float query_back(void); |
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private: |
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/** Converts between values outputted by sensor and physical distances */ |
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float sonar_to_dist(float sonar_value); |
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float dist_to_sonar(float distance); |
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/* Front and back distance values read by sonar. */ |
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float front_dist; |
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float back_dist; |
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/** ROS publisher and client declaration */ |
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ros::Publisher sonar_set_scan_pub; |
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ros::Publisher sonar_toggle_pub; |
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ros::ServiceClient query_sonar; |
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ros::NodeHandle node; |
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}; |
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#endif |
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