root / scout / libscout / src / PaintBoardControl.cpp @ 7b5ea072
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1 | 34a60a3b | 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 PaintBoardControl.cpp
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28 | * @brief Contains paintboard declarations and functions
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29 | *
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30 | * Contains functions and definitions for the use of
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31 | * paintboards
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * @author Priyanka Deo
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35 | **/
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36 | |||
37 | #include "PaintBoardControl.h" |
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38 | |||
39 | using namespace std; |
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40 | |||
41 | /**
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42 | * @brief Initialize the paintboards module of libscout.
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43 | *
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44 | * Initialize the libscout node as a publisher of set_paintboards and a client of
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45 | * query_paintboards.
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46 | */
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47 | PaintBoardControl::PaintBoardControl(const ros::NodeHandle& libscout_node,
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48 | string scoutname)
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49 | : node(libscout_node) |
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50 | { |
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51 | set_paintboard_pub = |
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52 | node.advertise< ::messages::set_paintboard>(scoutname + "/set_paintboard",
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53 | QUEUE_SIZE, true);
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54 | query_paintboard_client = |
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55 | node.serviceClient< ::messages::query_paintboard>(scoutname + "/query_paintboard");
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56 | } |
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57 | |||
58 | PaintBoardControl::~PaintBoardControl() |
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59 | { |
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60 | set(STOP_PAINT); |
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61 | } |
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62 | |||
63 | /**
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64 | * @brief Sets all the speeds according to the specificiation of which paintboard
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65 | * to set.
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66 | *
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67 | * @param which A bitmask of which paintboard need to be set.
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68 | * @param speed The value to set the paintboard to.
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69 | * @param units The units the speed is expressed in.
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70 | * @return Function status
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71 | */
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72 | void PaintBoardControl::set(int paintboard_setting) |
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73 | { |
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74 | ::messages::set_paintboard msg; |
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75 | |||
76 | msg.setting = paintboard_setting; |
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77 | |||
78 | set_paintboard_pub.publish(msg); |
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79 | ros::spinOnce(); |
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80 | } |
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81 | |||
82 | /**
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83 | * @brief Query the current speeds of the paintboard
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84 | *
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85 | * Sends a request to the query_paintboard service which will reply with the
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86 | * current setting of the paintboard.
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87 | *
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88 | * @param which A bitmask that will specify which motor speed should be
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89 | * returned
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90 | * @return The speed of the selected motor
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91 | */
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92 | int PaintBoardControl::query()
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93 | { |
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94 | ::messages::query_paintboard srv; |
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95 | if(query_paintboard_client.call(srv))
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96 | { |
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97 | return srv.response.setting;
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98 | } |
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99 | else
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100 | { |
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101 | ROS_FATAL("Failed to call service query_paintboard");
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102 | } |
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103 | |||
104 | return -1; |
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105 | } |