root / scout / analog / src / analog.cpp @ e2770306
History | View | Annotate | Download (2.9 KB)
1 | a826ac0f | Dev Gurjar | /**
|
---|---|---|---|
2 | * Copyright (c) 2011 Colony Project
|
||
3 | *
|
||
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | c492be62 | Alex Zirbel | */
|
25 | a826ac0f | Dev Gurjar | |
26 | /**
|
||
27 | * @file analog.cpp
|
||
28 | * @brief Contains code to read analog data.
|
||
29 | *
|
||
30 | * Implementation of functions for analog use.
|
||
31 | *
|
||
32 | * @author Colony Project, CMU Robotics Club
|
||
33 | * @author Dev Gurjar
|
||
34 | **/
|
||
35 | |||
36 | 572adceb | Alex Zirbel | #include <ros/ros.h> |
37 | |||
38 | a826ac0f | Dev Gurjar | #include "analog.h" |
39 | |||
40 | /**
|
||
41 | * @defgroup analog Analog
|
||
42 | * @brief Functions for reading analog input
|
||
43 | *
|
||
44 | * @{
|
||
45 | **/
|
||
46 | |||
47 | /* Analog state variables */
|
||
48 | /** @todo Fix types: static */
|
||
49 | unsigned int port; /**< The current port from which we are reading from. */ |
||
50 | |||
51 | /**
|
||
52 | * @brief Outputs current analog data at a given port
|
||
53 | *
|
||
54 | * Serves the service query_analog by responding to service requests with the
|
||
55 | * speeds of the motors.
|
||
56 | * @param req The request. The only field is the units requested.
|
||
57 | * @param res The response. The fields will be filled with values.
|
||
58 | */
|
||
59 | 572adceb | Alex Zirbel | bool analog_query(analog::query_analog::Request &req,
|
60 | analog::query_analog::Response &res) |
||
61 | a826ac0f | Dev Gurjar | { |
62 | 572adceb | Alex Zirbel | int port = req.port;
|
63 | a826ac0f | Dev Gurjar | res.sensor_data = get_sensor_data(port); |
64 | |||
65 | ROS_DEBUG("Analog data queried");
|
||
66 | return true; |
||
67 | } |
||
68 | |||
69 | /*
|
||
70 | * @brief
|
||
71 | *
|
||
72 | * Given a port number, returns the analog data present at the port
|
||
73 | *
|
||
74 | * @param port The port we want to read from
|
||
75 | */
|
||
76 | 572adceb | Alex Zirbel | unsigned int get_sensor_data(int port) |
77 | { |
||
78 | ROS_DEBUG("Got Analog data from the sensor [Unimplemented]");
|
||
79 | a826ac0f | Dev Gurjar | return 0; |
80 | } |
||
81 | |||
82 | /**
|
||
83 | 572adceb | Alex Zirbel | * @brief Analog driver. Provides an interface to read data from analog ports.
|
84 | */
|
||
85 | a826ac0f | Dev Gurjar | int main(int argc, char **argv) |
86 | { |
||
87 | /* Initialize in ROS the motors driver node */
|
||
88 | ros::init(argc, argv, "analog_driver");
|
||
89 | |||
90 | /* Advertise that this serves the query_analog service */
|
||
91 | ros::NodeHandle n; |
||
92 | ros::ServiceServer service = n.advertiseService("query_analog",
|
||
93 | analog_query); |
||
94 | |||
95 | 572adceb | Alex Zirbel | /* Initialize hardware for analog */
|
96 | |||
97 | a826ac0f | Dev Gurjar | // Hardware init functions here
|
98 | ros::spin(); |
||
99 | |||
100 | return 0; |
||
101 | } |
||
102 | |||
103 | /** @} **/ |