root / scout / libscout / src / ButtonControl.cpp @ 9a88eb2e
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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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* @author Alex Zirbel
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**/
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#include "ButtonControl.h" |
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using namespace std; |
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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,
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string scoutname)
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: node(libscout_node) |
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{ |
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button_event_sub = node.subscribe(scoutname + "/button_event",
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QUEUE_SIZE, |
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&ButtonControl::event_callback, |
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this);
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} |
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/**
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* @brief Respond to button events
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* Processes message and updates private variables
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*/
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void ButtonControl::event_callback(const buttons::button_event::ConstPtr& msg) |
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{ |
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button1_value = msg->button1_pressed; |
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button2_value = 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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} |