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subscriber_callbacks.cpp
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subscriber_callbacks.cpp
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/*
* Copyright (c) 2012, Yujin Robot.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Yujin Robot nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file /kobuki_node/src/node/subscriber_callbacks.cpp
*
* @brief Subscriber callbacks for kobuki node.
*
**/
/*****************************************************************************
** Includes
*****************************************************************************/
#include "../../include/kobuki_node/kobuki_ros.hpp"
/*****************************************************************************
** Namespaces
*****************************************************************************/
namespace kobuki
{
/*****************************************************************************
** Implementation
*****************************************************************************/
void KobukiRos::subscribeVelocityCommand(const geometry_msgs::TwistConstPtr msg)
{
if (kobuki.isEnabled())
{
// For now assuming this is in the robot frame, but probably this
// should be global frame and require a transform
//double vx = msg->linear.x; // in (m/s)
//double wz = msg->angular.z; // in (rad/s)
ROS_DEBUG_STREAM("Kobuki : velocity command received [" << msg->linear.x << "],[" << msg->angular.z << "]");
kobuki.setBaseControl(msg->linear.x, msg->angular.z);
odometry.resetTimeout();
}
return;
}
void KobukiRos::subscribeLed1Command(const kobuki_msgs::LedConstPtr msg)
{
switch( msg->value ) {
case kobuki_msgs::Led::GREEN: kobuki.setLed(Led1, Green ); break;
case kobuki_msgs::Led::ORANGE: kobuki.setLed(Led1, Orange ); break;
case kobuki_msgs::Led::RED: kobuki.setLed(Led1, Red ); break;
case kobuki_msgs::Led::BLACK: kobuki.setLed(Led1, Black ); break;
default: ROS_WARN_STREAM("Kobuki : led 1 command value invalid."); break;
}
return;
}
void KobukiRos::subscribeLed2Command(const kobuki_msgs::LedConstPtr msg)
{
switch( msg->value ) {
case kobuki_msgs::Led::GREEN: kobuki.setLed(Led2, Green ); break;
case kobuki_msgs::Led::ORANGE: kobuki.setLed(Led2, Orange ); break;
case kobuki_msgs::Led::RED: kobuki.setLed(Led2, Red ); break;
case kobuki_msgs::Led::BLACK: kobuki.setLed(Led2, Black ); break;
default: ROS_WARN_STREAM("Kobuki : led 2 command value invalid."); break;
}
return;
}
void KobukiRos::subscribeDigitalOutputCommand(const kobuki_msgs::DigitalOutputConstPtr msg)
{
DigitalOutput digital_output;
for ( unsigned int i = 0; i < 4; ++i ) {
digital_output.values[i] = msg->values[i];
digital_output.mask[i] = msg->mask[i];
}
kobuki.setDigitalOutput(digital_output);
return;
}
void KobukiRos::subscribeExternalPowerCommand(const kobuki_msgs::ExternalPowerConstPtr msg)
{
// Validate message
if (!((msg->source == kobuki_msgs::ExternalPower::PWR_3_3V1A) ||
(msg->source == kobuki_msgs::ExternalPower::PWR_5V1A) ||
(msg->source == kobuki_msgs::ExternalPower::PWR_12V5A) ||
(msg->source == kobuki_msgs::ExternalPower::PWR_12V1_5A)))
{
ROS_ERROR_STREAM("Kobuki : Power source " << (unsigned int)msg->source << " does not exist! [" << name << "].");
return;
}
if (!((msg->state == kobuki_msgs::ExternalPower::OFF) ||
(msg->state == kobuki_msgs::ExternalPower::ON)))
{
ROS_ERROR_STREAM("Kobuki : Power source state "
<< (unsigned int)msg->state << " does not exist! [" << name << "].");
return;
}
DigitalOutput digital_output;
for ( unsigned int i = 0; i < 4; ++i )
{
if (i == msg->source)
{
if (msg->state)
{
digital_output.values[i] = true; // turn source on
ROS_INFO_STREAM("Kobuki : Turning on external power source "
<< (unsigned int)msg->source << ". [" << name << "].");
}
else
{
digital_output.values[i] = false; // turn source off
ROS_INFO_STREAM("Kobuki : Turning off external power source "
<< (unsigned int)msg->source << ". [" << name << "].");
}
digital_output.mask[i] = true; // change source state
}
else
{
digital_output.values[i] = false; // values doesn't matter here, since mask is set false, what means ignoring
digital_output.mask[i] = false;
}
}
kobuki.setExternalPower(digital_output);
return;
}
/**
* @brief Play a predefined sound (single sound or sound sequence)
*/
void KobukiRos::subscribeSoundCommand(const kobuki_msgs::SoundConstPtr msg)
{
if ( msg->value == kobuki_msgs::Sound::ON )
{
kobuki.playSoundSequence(On);
}
else if ( msg->value == kobuki_msgs::Sound::OFF )
{
kobuki.playSoundSequence(Off);
}
else if ( msg->value == kobuki_msgs::Sound::RECHARGE )
{
kobuki.playSoundSequence(Recharge);
}
else if ( msg->value == kobuki_msgs::Sound::BUTTON )
{
kobuki.playSoundSequence(Button);
}
else if ( msg->value == kobuki_msgs::Sound::ERROR )
{
kobuki.playSoundSequence(Error);
}
else if ( msg->value == kobuki_msgs::Sound::CLEANINGSTART )
{
kobuki.playSoundSequence(CleaningStart);
}
else if ( msg->value == kobuki_msgs::Sound::CLEANINGEND )
{
kobuki.playSoundSequence(CleaningEnd);
}
else
{
ROS_WARN_STREAM("Kobuki : Invalid sound command! There is no sound stored for value '" << msg->value << "'.");
}
return;
}
/**
* @brief Reset the odometry variables.
*/
void KobukiRos::subscribeResetOdometry(const std_msgs::EmptyConstPtr /* msg */)
{
ROS_INFO_STREAM("Kobuki : Resetting the odometry. [" << name << "].");
joint_states.position[0] = 0.0; // wheel_left
joint_states.velocity[0] = 0.0;
joint_states.position[1] = 0.0; // wheel_right
joint_states.velocity[1] = 0.0;
odometry.resetOdometry();
kobuki.resetOdometry();
return;
}
void KobukiRos::subscribeMotorPower(const kobuki_msgs::MotorPowerConstPtr msg)
{
if (msg->state == kobuki_msgs::MotorPower::ON)
{
ROS_INFO_STREAM("Kobuki : Firing up the motors. [" << name << "]");
kobuki.enable();
odometry.resetTimeout();
}
else if (msg->state == kobuki_msgs::MotorPower::OFF)
{
kobuki.disable();
ROS_INFO_STREAM("Kobuki : Shutting down the motors. [" << name << "]");
odometry.resetTimeout();
}
else
{
ROS_ERROR_STREAM("Kobuki : Motor power command specifies unknown state '" << (unsigned int)msg->state
<< "'. [" << name << "]");
}
}
void KobukiRos::subscribeControllerInfoCommand(const kobuki_msgs::ControllerInfoConstPtr msg)
{
if( msg->p_gain < 0.0f || msg->i_gain < 0.0f || msg->d_gain < 0.0f) {
ROS_ERROR_STREAM("Kobuki : All controller gains should be positive. [" << name << "]");
return;
}
kobuki.setControllerGain(msg->type,
static_cast<unsigned int>(msg->p_gain*1000.0f),
static_cast<unsigned int>(msg->i_gain*1000.0f),
static_cast<unsigned int>(msg->d_gain*1000.0f));
return;
}
} // namespace kobuki