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 CliffsensorControl.cpp

 * @brief Contains code to control the cliffsensor.

 *

 * Implementation of functions for cliffsensor use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Leon Zhang

 **/

#include "ros/ros.h"

#include "CliffsensorControl.h"

#include <cstdlib>

/**

 * @defgroup cliffsensor Cliffsensor

 * @brief Functions for using the cliffsensors

 *

 * @{

 **/

/**

 * @brief Initializes the Cliffsensor module in libscout.

 *

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

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

 * cliff_status_changed topics

 **/

CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) : node(libscout_node)

{

    /* Subscribe to the cliff_status_changed topic */

    cliff_status_changed_sub = node.subscribe("cliff_status_changed", 

                                        QUEUE_SIZE, changed_cliff_status);

    ros::spin();

}

/**

 * @brief Changes cliff sensor status

 *

 * Changes cliff sensor status based on subscription to topic cliff_status_changed

 *

 * @param msg The message from the cliff_status_changed topic, containing 

 * status of all cliff sensors.

 *

 */

void CliffsensorControl::changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg)

{

    front_raw = msg.front_raw;

    left_raw = msg.left_raw;

    right_raw = msg.right_raw;

    return;

}

/**

 * @brief get the current raw value of the front cliffsensor

 * @return the current raw value of the front cliffsensor

 */

int CliffsensorControl::get_front_raw()

{

    return front_raw;

}

/**

 * @brief get the current raw value of the left cliffsensor

 * @return the current raw value of the left cliffsensor

 */

int CliffsensorControl::get_left_raw()

{

    return left_raw;

}

/**

 * @brief get the current raw value of the right cliffsensor

 * @return the current raw value of the right cliffsensor

 */

int CliffsensorControl::get_right_raw()

{

    return right_raw;

}

/**

 * @brief check if a cliff is being detected

 * @return true if there is a cliff, otherwise

 */

bool CliffsensorControl::check_is_cliff()

{

    return (front_raw || left_raw || right_raw);

}

/** @} **/

/**

 * 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 CliffsensorControl.h

 * @brief Contains cliffsensor declarations and functions.

 * 

 * Contains functions and definitions for the use of

 * cliffsensors.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 * @author Leon Zhang

 **/

#ifndef _CLIFFSENSOR_H_

#define _CLIFFSENSOR_H_

#include "cliffsensor/query_cliff.h"

#include "cliffsensor/cliff_status_changed.h"

#define CLIFF_DETECTED 0x0

#define NO_CLIFF 0x1

class CliffsensorControl

{

    public:

        CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) ;

        /** @brief Responds to topic to change cliff sensor status. **/

        void changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg);

        int get_front_raw();

        int get_left_raw();

        int get_right_raw();

        bool check_is_cliff();

    private:

        /* Cliffsensor state variables

         */

        int front_raw; /**< The current raw value data of the front cliffsensor. */

        int left_raw; /**< The current raw value data of the left cliffsensor. */

        int right_raw; /**< The current raw value data of the right cliffsensor. */

        ros::Subscriber cliff_status_changed_sub;

}

#endif