root / scout / libscout / src / CliffsensorControl.cpp @ 676cbe0e
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1 | d1ba04dc | 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 | **/
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25 | |||
26 | /**
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27 | * @file CliffsensorControl.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 | * @author Leon Zhang
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35 | **/
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36 | |||
37 | #include "ros/ros.h" |
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38 | #include "CliffsensorControl.h" |
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39 | #include <cstdlib> |
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40 | |||
41 | /**
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42 | * @brief Initializes the Cliffsensor module in libscout.
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43 | *
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44 | * This is the main function for the cliffsensors node. It is run when the node
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45 | * starts and initializes the cliffsensors. It then subscribes to the
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46 | * cliff_status_changed topics
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47 | **/
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48 | CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
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49 | std::string scoutname) : node(libscout_node)
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50 | { |
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51 | /* Subscribe to the cliff_status_changed topic */
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52 | cliff_status_changed_sub = node.subscribe("cliff_status_changed",
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53 | QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
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54 | |||
55 | ros::spin(); |
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56 | } |
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57 | |||
58 | /**
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59 | * @brief Changes cliff sensor status
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60 | *
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61 | * Changes cliff sensor status based on subscription to topic cliff_status_changed
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62 | *
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63 | * @param msg The message from the cliff_status_changed topic, containing
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64 | * status of all cliff sensors.
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65 | *
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66 | */
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67 | void CliffsensorControl::changed_cliff_status(const ::messages::cliff_status_changed::ConstPtr& msg) |
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68 | { |
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69 | front_raw = msg->cliff_status; |
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70 | left_raw = msg->cliff_status; |
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71 | right_raw = msg->cliff_status; |
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72 | return;
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73 | } |
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74 | |||
75 | /**
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76 | * @brief get the current raw value of the front cliffsensor
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77 | * @return the current raw value of the front cliffsensor
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78 | */
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79 | int CliffsensorControl::get_front_raw()
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80 | { |
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81 | return front_raw;
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82 | } |
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83 | |||
84 | /**
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85 | * @brief get the current raw value of the left cliffsensor
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86 | * @return the current raw value of the left cliffsensor
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87 | */
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88 | int CliffsensorControl::get_left_raw()
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89 | { |
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90 | return left_raw;
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91 | } |
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92 | |||
93 | /**
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94 | * @brief get the current raw value of the right cliffsensor
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95 | * @return the current raw value of the right cliffsensor
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96 | */
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97 | int CliffsensorControl::get_right_raw()
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98 | { |
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99 | return right_raw;
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100 | } |
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101 | |||
102 | /**
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103 | * @brief check if a cliff is being detected
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104 | * @return true if there is a cliff, otherwise
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105 | */
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106 | bool CliffsensorControl::check_is_cliff()
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107 | { |
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108 | return (front_raw || left_raw || right_raw);
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109 | } |