/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.tutorials.poark;
import com.google.common.base.Preconditions;
import org.apache.commons.logging.Log;
import org.ros.node.DefaultNodeFactory;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;
import org.ros.poark.PinChangeListener;
import org.ros.poark.Poark;
import org.ros.poark.PoarkClient;
/**
* This is a simple rosjava {@link Node} to demonstrate using the Poark.
* It assumes an external roscore is already running.
*
* @author pastarmovj@google.com (Julian Pastarmov)
*/
public class Basic implements NodeMain {
private Node node;
private PoarkClient poarkClient;
// the led on the main Arduino board is connected to pin 13.
private final byte kLedPin = 13;
private final byte kButton1 = Poark.A6;
@Override
public void main(Node node) throws Exception {
Preconditions.checkState(this.node == null);
this.node = node;
try {
final Log log = node.getLog();
// Attach the client to the node and add some pin listeners.
poarkClient = new PoarkClient(Poark.BoardLayout.MegaLayout, node);
poarkClient.addPinChangeListener(kButton1,
new PinChangeListener() {
@Override
public void onPinStateChange(byte pin, int new_value) {
log.info("Pushed the button : \"" + pin + " - " + new_value + "\"");
}
});
poarkClient.setPinMode(kLedPin, Poark.OUT, Poark.HIGH);
Thread.sleep(1000);
// Setup the Poark I/O.
poarkClient.setPinsMode(new byte[]{kLedPin, kButton1},
new byte[]{Poark.OUT, Poark.IN},
new byte[]{Poark.LOW, Poark.HIGH});
// Start blinking the light.
byte light = Poark.LOW;
while (true) {
light = (byte)(Poark.HIGH - light);
poarkClient.setPinState(kLedPin, light);
Thread.sleep(1000);
}
} catch (Exception e) {
if (node != null) {
node.getLog().fatal(e);
} else {
e.printStackTrace();
}
}
}
@Override
public void shutdown() {
node.shutdown();
node = null;
}
}