scoutos / scout / libscout / src / WirelessSender.h @ f8655f01
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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.h
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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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* Uses the dest field of the wireless packet to specify which
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* scout the message is intended for, or SCOUT_ALL to send to
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* all scouts
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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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#ifndef _WIRELESS_SENDER_H_
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#define _WIRELESS_SENDER_H_
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#include <vector> |
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#include <ros/ros.h> |
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#include "messages/WirelessPacket.h" |
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#include "constants.h" |
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/// A macro to allow sending to all the scouts.
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#define SCOUT_ALL (messages::WirelessPacket::DEST_BROADCAST)
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class WirelessSender |
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{ |
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public:
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WirelessSender(const ros::NodeHandle& libscout_node,
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uint16_t type = 0,
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uint16_t pan = messages::WirelessPacket::PAN_DEFAULT, |
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uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT); |
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void setType(uint16_t type);
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void setPan(uint16_t pan);
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void setChannel(uint16_t channel);
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void send(uint8_t data[], int length, uint16_t dest = SCOUT_ALL); |
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void send(std::vector<uint8_t>& data, uint16_t dest = SCOUT_ALL);
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private:
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ros::NodeHandle node; |
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ros::Publisher pub; |
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messages::WirelessPacket packet; |
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}; |
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#endif
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