root / scout / libscout / src / WirelessSender.cpp @ 36701fcd
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1 | 71d57001 | Tom Mullins | /**
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2 | * Copyright (c) 2012 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | |||
27 | /**
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28 | * @file WirelessSender.cpp
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29 | * @brief Contains wireless declarations and functions
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30 | *
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31 | * Contains functions and definitions for the use of
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32 | * XBee wireless
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | * @author Tom Mullins
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36 | **/
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37 | |||
38 | #include "WirelessSender.h" |
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39 | |||
40 | using namespace std; |
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41 | using namespace ::messages; |
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42 | |||
43 | 5d0687a9 | Priya | WirelessSender::WirelessSender(const ros::NodeHandle& libscout_node,
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44 | uint16_t type, uint16_t pan, uint16_t channel) |
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45 | : node(libscout_node) |
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46 | 71d57001 | Tom Mullins | { |
47 | packet.type = type; |
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48 | packet.pan = pan; |
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49 | packet.channel = channel; |
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50 | 5d0687a9 | Priya | pub = node.advertise< ::messages::WirelessPacket>("/wireless/send",
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51 | cfdb3afa | Alex | QUEUE_SIZE, true);
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52 | 71d57001 | Tom Mullins | } |
53 | |||
54 | void WirelessSender::setType(uint16_t type)
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55 | { |
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56 | packet.type = type; |
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57 | } |
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58 | void WirelessSender::setPan(uint16_t pan)
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59 | { |
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60 | packet.pan = pan; |
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61 | } |
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62 | void WirelessSender::setChannel(uint16_t channel)
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63 | { |
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64 | packet.channel = channel; |
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65 | } |
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66 | |||
67 | 5d0687a9 | Priya | void WirelessSender::send(uint8_t data[], int length, uint16_t dest) |
68 | 71d57001 | Tom Mullins | { |
69 | 5d0687a9 | Priya | packet.dest = dest; |
70 | 71d57001 | Tom Mullins | packet.data.clear(); |
71 | for (int i = 0; i < length; i++) |
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72 | { |
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73 | packet.data.push_back(data[i]); |
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74 | } |
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75 | 5d0687a9 | Priya | pub.publish(packet); |
76 | 71d57001 | Tom Mullins | } |
77 | |||
78 | 5d0687a9 | Priya | void WirelessSender::send(vector<uint8_t>& data, uint16_t dest)
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79 | 71d57001 | Tom Mullins | { |
80 | 5d0687a9 | Priya | packet.dest = dest; |
81 | 71d57001 | Tom Mullins | packet.data = data; |
82 | pub.publish(packet); |
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83 | } |