Changed ace to ace-serial and ran linter

Signed-off-by: yamahatayukiya <[email protected]>

Author: yamahatayukiya

BarometerReader.cpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
- * Copyright (c) 2020  Carnegie Mellon University
+ * Copyright (c) 2020, 2023  Carnegie Mellon University and Miraikan
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -20,47 +20,35 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#include "BarometerReader.h"
+#include "BarometerReader.hpp"
 
-BarometerReader::BarometerReader(ros::NodeHandle &nh):
-  SensorReader(nh),
-  fp_pub_("pressure", &fp_msg_),
-  tmp_pub_("temperature", &tmp_msg_)
-{
-  nh_.advertise(fp_pub_);
-  nh_.advertise(tmp_pub_);
-}
+BarometerReader::BarometerReader(cabot::Handle & ch)
+: SensorReader(ch) {}
 
-void BarometerReader::init(){
-  Wire.begin(21,22);
-  if(!bmp_.begin(0x76, &Wire))
-  {
-    nh_.loginfo("Ooops, no BME280 detected ... Check your wiring or I2C ADDR!");
+void BarometerReader::init()
+{
+  Wire.begin(21, 22);
+  if (!bme_.begin(0x76, &Wire)) {
+    ch_.loginfo("Ooops, no BME280 detected ... Check your wiring or I2C ADDR!");
     return;
   }
   initialized_ = true;
-  
-  bmp_.setSampling(Adafruit_BME280::MODE_NORMAL,     /* Operating Mode. */
-		   Adafruit_BME280::SAMPLING_X2,     /* Temp. oversampling */
-		   Adafruit_BME280::SAMPLING_X16,    /* Pressure oversampling */
-       Adafruit_BME280::SAMPLING_X16, 
-		   Adafruit_BME280::FILTER_X16,      /* Filtering. */
-		   Adafruit_BME280::STANDBY_MS_500); /* Standby time. */
+
+  bme_.setSampling(
+    Adafruit_BME280::MODE_NORMAL,                    /* Operating Mode. */
+    Adafruit_BME280::SAMPLING_X2,                    /* Temp. oversampling */
+    Adafruit_BME280::SAMPLING_X16,                   /* Pressure oversampling */
+    Adafruit_BME280::SAMPLING_X16,                   /* Humidity oversampling */
+    Adafruit_BME280::FILTER_X16,                     /* Filtering. */
+    Adafruit_BME280::STANDBY_MS_500);                /* Standby time. */
 }
 
-void BarometerReader::update(){
+void BarometerReader::update()
+{
   if (!initialized_) {
     return;
   }
-  fp_msg_.fluid_pressure = bmp_.readPressure();
-  fp_msg_.variance = 0;
-  fp_msg_.header.stamp = nh_.now();
-  fp_msg_.header.frame_id = "bmp_frame";
-  fp_pub_.publish( &fp_msg_ );
-  
-  tmp_msg_.temperature = bmp_.readTemperature();
-  tmp_msg_.variance = 0;
-  tmp_msg_.header.stamp = nh_.now();
-  tmp_msg_.header.frame_id = "bmp_frame";
-  tmp_pub_.publish( &tmp_msg_ );
+
+  ch_.publish(0x15, bme_.readPressure());
+  ch_.publish(0x16, bme_.readTemperature());
 }

BarometerReader.h renamed to BarometerReader.hpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
- * Copyright (c) 2020  Carnegie Mellon University
+ * Copyright (c) 2020, 2023  Carnegie Mellon University and Miraikan
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -20,29 +20,21 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#ifndef ARDUINO_NODE_BAROMETER_H
-#define ARDUINO_NODE_BAROMETER_H
+#ifndef BAROMETERREADER_HPP_
+#define BAROMETERREADER_HPP_
 
-#include <Wire.h>
-#include <Adafruit_Sensor.h>
-//#include <Adafruit_BMP280.h>
 #include <Adafruit_BME280.h>
-#include <sensor_msgs/FluidPressure.h>
-#include <sensor_msgs/Temperature.h>
+#include <Adafruit_Sensor.h>
+#include <Wire.h>
 #include "SensorReader.h"
 
-class BarometerReader : public SensorReader{
-  //Adafruit_BMP280 bmp_;
-  Adafruit_BME280 bmp_;
-  sensor_msgs::FluidPressure fp_msg_;
-  sensor_msgs::Temperature tmp_msg_;
-  ros::Publisher fp_pub_;
-  ros::Publisher tmp_pub_;
+class BarometerReader: public SensorReader {
+  Adafruit_BME280 bme_;
 
 public:
-  BarometerReader(ros::NodeHandle &nh);
+  explicit BarometerReader(cabot::Handle & ch);
   void init();
   void update();
 };
 
-#endif //ARDUINO_NODE_BAROMETER_H
+#endif  // BAROMETERREADER_HPP_

ButtonsReader.cpp

@@ -0,0 +1,43 @@
+/*******************************************************************************
+ * Copyright (c) 2020, 2023  Carnegie Mellon University and Miraikan
+ *
+ * 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.
+ *******************************************************************************/
+
+#include "ButtonsReader.hpp"
+
+ButtonsReader::ButtonsReader(cabot::Handle & ch, uart_com & cm)
+: SensorReader(ch), cm(cm) {}
+
+void ButtonsReader::init() {}
+
+void ButtonsReader::update()
+{
+  bool reading_1 = cm.switch_up;
+  bool reading_2 = cm.switch_down;
+  bool reading_3 = cm.switch_left;
+  bool reading_4 = cm.switch_right;
+  bool reading_5 = cm.switch_center;
+
+
+  int8_t temp = reading_1 ? 0x01 : 0x00 | reading_2 ? 0x02 : 0x00 | reading_3 ? 0x04 : 0x00 |
+    reading_4 ? 0x08 : 0x00 | reading_5 ? 0x10 : 0x00;
+
+  ch_.publish(0x12, temp);
+}

ButtonsReader_ace.h renamed to ButtonsReader.hpp

@@ -1,5 +1,5 @@
 /*******************************************************************************
- * Copyright (c) 2020, 2022 Carnegie Mellon University, IBM Corporation, and others
+ * Copyright (c) 2020, 2023  Carnegie Mellon University and Miraikan
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -20,33 +20,20 @@
  * THE SOFTWARE.
  *******************************************************************************/
 
-#ifndef ARDUINO_NODE_BUTTONS_READER_ACE_H
-#define ARDUINO_NODE_BUTTONS_READER_ACE_H
+#ifndef BUTTONSREADER_HPP_
+#define BUTTONSREADER_HPP_
 
 #include <Wire.h>
-#include <std_msgs/Bool.h>
-#include <std_msgs/Int8.h>
 #include "SensorReader.h"
-#include "uart_com.h"
+#include "uart_com.h"  // NOLINT
+
+class ButtonsReader: public SensorReader {
+  uart_com & cm;
 
-class ButtonsReader_ace: public SensorReader {
-  /*ros::Publisher b1_pub_;
-  ros::Publisher b2_pub_;
-  ros::Publisher b3_pub_;
-  ros::Publisher b4_pub_;
-  ros::Publisher b5_pub_;*/
-  ros::Publisher b_pub_;
-  /*std_msgs::Bool b1_msg_;
-  std_msgs::Bool b2_msg_;
-  std_msgs::Bool b3_msg_;
-  std_msgs::Bool b4_msg_;
-  std_msgs::Bool b5_msg_;*/
-  std_msgs::Int8 b_msg_;
-  uart_com& cm;
 public:
-  ButtonsReader_ace(ros::NodeHandle &nh, uart_com& cm);
+  ButtonsReader(cabot::Handle & ch, uart_com & cm);
   void init();
   void update();
 };
 
-#endif //ARDUINO_NODE_BUTTONS_READER_ACE_H
+#endif  // BUTTONSREADER_HPP_