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scoutos / scout / libscout / src / WirelessSender.cpp @ cfdb3afa

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/**
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 * Copyright (c) 2012 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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/**
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 * @file WirelessSender.cpp
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 * @brief Contains wireless declarations and functions
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 * 
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 * Contains functions and definitions for the use of
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 * XBee wireless
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Tom Mullins
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 **/
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#include "WirelessSender.h"
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using namespace std;
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using namespace ::messages;
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WirelessSender::WirelessSender(const ros::NodeHandle& libscout_node,
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                               uint16_t type, uint16_t pan, uint16_t channel)
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    : node(libscout_node)
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{
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    packet.type = type;
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    packet.pan = pan;
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    packet.channel = channel;
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    pub = node.advertise< ::messages::WirelessPacket>("/wireless/send",
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                                                      QUEUE_SIZE, true);
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}
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void WirelessSender::setType(uint16_t type)
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{
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    packet.type = type;
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}
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void WirelessSender::setPan(uint16_t pan)
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{
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    packet.pan = pan;
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}
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void WirelessSender::setChannel(uint16_t channel)
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{
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    packet.channel = channel;
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}
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void WirelessSender::send(uint8_t data[], int length, uint16_t dest)
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{
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    packet.dest = dest;
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    packet.data.clear();
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    for (int i = 0; i < length; i++)
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    {
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        packet.data.push_back(data[i]);
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    }
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    pub.publish(packet);
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}
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void WirelessSender::send(vector<uint8_t>& data, uint16_t dest)
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{
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    packet.dest = dest;
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    packet.data = data;
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    pub.publish(packet);
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}