Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file headlights.cpp

 * @brief Contains code to control the headlights.

 *

 * Implementation of functions for headlights use.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include "ros/ros.h"

#include "headlights.h"

//#include "libscout/src/constants.h"

#include <cstdlib>

/**

 * @defgroup headlights headlights

 * @brief Functions for using the headlights

 *

 * @{

 **/

/* Headlight state variables

 * Each color intensity is stored as a value out of the max bunary value that 

 * can be written to the output pins that control the LEDs.

 */

/** @todo Fix types: static */

struct headlight

{

        char red;

        char green;

        char blue;

};

headlight left, right;

/**

 * @brief Sets headlight colors

 *

 * Sets the headlight colors based on subscription to the set_headlights topic.

 *

 * @param msg The message from the set_headlights topic, containing colors.

 */

void headlights_set(const headlights::set_headlights::ConstPtr& msg)

{

                /* Set state variables from message */

                if(msg->left_red > NO_SET)

                {

                        left.red = msg->left_red;

                }

                if(msg->left_green > NO_SET)

                {

                        left.green = msg->left_green;

                }

                if(msg->left_blue > NO_SET)

                {

                        left.blue = msg->left_blue;

                }

                if(msg->right_red > NO_SET)

                {

                        right.red = msg->right_red;

                }

                if(msg->right_green > NO_SET)

                {

                        right.green = msg->right_green;

                }

                if(msg->right_blue > NO_SET)

                {

                        right.blue = msg->right_blue;

                }

    /* Write colors to hardware */

    /** @todo Add code to write colors to hardware */

}

/**

 * @brief headlights driver. This is a ROS node that controls headlight colors.

 *

 * This is the main function for the headlights node. It is run when the node

 * starts and initializes the headlights. It then subscribes to the

 * set_headlights topic.

 * 

 * @param argc The number of command line arguments (should be 1)

 * @param argv The array of command line arguments

 **/

int main(int argc, char **argv)

{

    /* Initialize in ROS the headlights driver node */

    ros::init(argc, argv, "headlights_driver");

    /* Create the nodehandle for this node*/

    ros::NodeHandle n;

    /* Subscribe to the set_headlights topic */

    ros::Subscriber sub0 = n.subscribe("set_headlights", QUEUE_SIZE, headlights_set);

    /* Initialize hardware for headlights */

    // Hardware init functions here

    ROS_INFO("Ready to set headlights.");

    ros::spin();

    return 0;

}

/** @} **/