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Revision 9c0008d0

ID9c0008d04908747e904f4af7a5819eba03b9f7f1

Added by Leon almost 7 years ago

Fixed CliffsensorControl, now actually part of Behaviors

View differences:

scout/libscout/CMakeLists.txt
29 29
#rosbuild_add_executable(example examples/example.cpp)
30 30
#target_link_libraries(example ${PROJECT_NAME})
31 31

  
32
rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp)
32
rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp)
scout/libscout/manifest.xml
14 14
  <depend package="headlights"/>
15 15
  <depend package="buttons"/>
16 16
  <depend package="sonar"/>
17
  <depend package="cliffsensor"/>
17 18

  
18 19
</package>
19 20

  
scout/libscout/src/Behavior.cpp
53 53
    motors = new MotorControl(node, scoutname);
54 54
    buttons = new ButtonControl(node, scoutname);
55 55
    sonar = new SonarControl(node, scoutname);
56
    cliffsensor = new CliffsensorControl(node, scoutname);
56 57

  
57 58
    loop_rate = new ros::Rate(10);
58 59
}
scout/libscout/src/Behavior.h
43 43
#include "HeadlightControl.h"
44 44
#include "ButtonControl.h"
45 45
#include "SonarControl.h"
46
#include "CliffsensorControl.h"
46 47
#include "constants.h"
47 48

  
48 49
class Behavior
......
64 65
        MotorControl * motors;
65 66
        ButtonControl * buttons;
66 67
        SonarControl * sonar;
68
        CliffsensorControl * cliffsensor;
67 69

  
68 70
        // Wrappers for ROS functions
69 71
        bool ok();
scout/libscout/src/CliffsensorControl.cpp
52 52
 * starts and initializes the cliffsensors. It then subscribes to the
53 53
 * cliff_status_changed topics
54 54
 **/
55
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) : node(libscout_node)
55
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
56
                                  std::string scoutname) : node(libscout_node)
56 57
{
57 58
    /* Subscribe to the cliff_status_changed topic */
58 59
    cliff_status_changed_sub = node.subscribe("cliff_status_changed", 
59
                                        QUEUE_SIZE, changed_cliff_status);
60
                             QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
60 61

  
61 62
    ros::spin();
62 63
}
......
72 73
 */
73 74
void CliffsensorControl::changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg)
74 75
{
75
    front_raw = msg.front_raw;
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    left_raw = msg.left_raw;
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    right_raw = msg.right_raw;
76
    front_raw = msg->front_raw;
77
    left_raw = msg->left_raw;
78
    right_raw = msg->right_raw;
78 79
    return;
79 80
}
80 81

  
scout/libscout/src/CliffsensorControl.h
38 38
#ifndef _CLIFFSENSOR_H_
39 39
#define _CLIFFSENSOR_H_
40 40

  
41
#include "cliffsensor/query_cliff.h"
42
#include "cliffsensor/cliff_status_changed.h"
41
#include <cliffsensor/query_cliff.h>
42
#include <cliffsensor/cliff_status_changed.h>
43
#include "constants.h"
43 44

  
44 45
#define CLIFF_DETECTED 0x0
45 46
#define NO_CLIFF 0x1
......
47 48
class CliffsensorControl
48 49
{
49 50
    public:
50
        CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) ;
51
        CliffsensorControl(const ros::NodeHandle& libscout_node, std::string scoutname);
51 52

  
52 53
        /** @brief Responds to topic to change cliff sensor status. **/
53
        void changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg);
54
        void changed_cliff_status(
55
                        const cliffsensor::cliff_status_changed::ConstPtr& msg);
54 56

  
55 57
        int get_front_raw();
56 58
        int get_left_raw();
......
60 62
    private:
61 63
        /* Cliffsensor state variables
62 64
         */
63
        int front_raw; /**< The current raw value data of the front cliffsensor. */
64
        int left_raw; /**< The current raw value data of the left cliffsensor. */
65
        int right_raw; /**< The current raw value data of the right cliffsensor. */
65
        int front_raw; /**< The current raw value 
66
                        data of the front cliffsensor. */
67
        int left_raw; /**< The current raw value data of 
68
                        the left cliffsensor. */
69
        int right_raw; /**< The current raw value data of 
70
                        the right cliffsensor. */
66 71

  
67 72
        ros::Subscriber cliff_status_changed_sub;
68

  
69
}
73
        ros::NodeHandle node; 
74
};
70 75

  
71 76
#endif

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