callbackHeader.hpp

00001 #ifndef ZETA_STM_KINETIC_CALLBACKHEADER_H_
00002 #define ZETA_STM_KINETIC_CALLBACKHEADER_H_
00003 #include "rosHeader.hpp"
00004 #include "mbed.h"
00005 #include "myUtil.hpp"
00006 #include "configurations/robotConfig.h"
00007 //extern std_msgs::Bool UVCcontrolMsg;
00008 extern volatile bool isSubscribe;
00009 extern volatile uint8_t NUC_sub_state;
00010 extern ros::NodeHandle nh;
00011 #if ((ROBOT_TYPE == MODEL_C) || (ROBOT_TYPE == MODEL_D))
00012 extern ChargingControl charging_control;
00013 #endif 
00014 #if (ROBOT_TYPE == MODEL_I)
00015 extern DigitalOut WaringFieldSelectPin1;
00016 extern DigitalOut WaringFieldSelectPin2;
00017 extern DigitalOut IgnoreWarningFieldPin1;
00018 extern DigitalOut IgnoreWarningFieldPin2;
00019 extern DigitalOut ScrubberControl;
00020 extern DigitalOut ChargingSsr;
00021 #endif
00022 
00023 void BluetoothCB(const std_msgs::UInt8& msg)
00024 {
00025     NUC_sub_state = msg.data;
00026 }
00027 
00028 void SsrTestCB(const std_msgs::Bool& msg)
00029 {
00030 #if ((ROBOT_TYPE == MODEL_C) || (ROBOT_TYPE == MODEL_D))
00031     if(msg.data)
00032     {
00033         charging_control.on();
00034     }
00035     else
00036     {
00037         charging_control.off();
00038     }
00039 #elif (ROBOT_TYPE == MODEL_I)
00040     ChargingSsr = msg.data;
00041 #endif
00042     ThisThread::sleep_for(1000);
00043 }
00044     
00045 
00046 #if (ROBOT_TYPE == MODEL_I)
00047 void WarningFieldSelectCB(const std_msgs::UInt8& msg)
00048 {
00049     const unsigned char pos_front = 0U;
00050     const unsigned char pos_rear  = 1U;
00051     enum warning_field_select_enum
00052     {
00053         field1 = 0,
00054         field2,
00055     };
00056     if(msg.data & (1U << pos_front))
00057     {
00058         WaringFieldSelectPin1 = 1;   
00059     }
00060     else
00061     {
00062         WaringFieldSelectPin1 = 0;   
00063     }
00064     if(msg.data & (1U << pos_rear))
00065     {
00066         WaringFieldSelectPin2 = 1;
00067     }
00068     else
00069     {
00070         WaringFieldSelectPin2 = 0;   
00071     }
00072 }
00073 
00074 void IgnoreWarningFieldCB(const std_msgs::UInt8& msg)
00075 {
00076     const unsigned char pos_front = 0U;
00077     const unsigned char pos_rear  = 1U;
00078     enum warning_field_select_enum
00079     {
00080         field1 = 0,
00081         field2,
00082     };
00083     if(msg.data & (1U << pos_front))
00084     {
00085         IgnoreWarningFieldPin1 = 1;   
00086     }
00087     else
00088     {
00089         IgnoreWarningFieldPin1 = 0;   
00090     }
00091     if(msg.data & (1U << pos_rear))
00092     {
00093         IgnoreWarningFieldPin2 = 1;
00094     }
00095     else
00096     {
00097         IgnoreWarningFieldPin2 = 0;   
00098     }
00099 }
00100 void ScrubberControlCB(const std_msgs::Bool& msg)
00101 {
00102     if(msg.data)
00103     {
00104         ScrubberControl = 1;
00105     }
00106     else
00107     {
00108         ScrubberControl = 0;
00109     }
00110 }
00111 #endif
00112 #endif