root / scout / libscout / src / WirelessReceiver.cpp @ 3a73516c
History | View | Annotate | Download (2.66 KB)
| 1 | 5d634058 | Tom Mullins | /**
|
|---|---|---|---|
| 2 | * Copyright (c) 2012 Colony Project
|
||
| 3 | *
|
||
| 4 | * Permission is hereby granted, free of charge, to any person
|
||
| 5 | * obtaining a copy of this software and associated documentation
|
||
| 6 | * files (the "Software"), to deal in the Software without
|
||
| 7 | * restriction, including without limitation the rights to use,
|
||
| 8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
| 9 | * copies of the Software, and to permit persons to whom the
|
||
| 10 | * Software is furnished to do so, subject to the following
|
||
| 11 | * conditions:
|
||
| 12 | *
|
||
| 13 | * The above copyright notice and this permission notice shall be
|
||
| 14 | * included in all copies or substantial portions of the Software.
|
||
| 15 | *
|
||
| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
| 17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
| 18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
| 19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
| 20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
| 21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
| 22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
| 23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
| 24 | */
|
||
| 25 | |||
| 26 | |||
| 27 | /**
|
||
| 28 | * @file WirelessReceiver.cpp
|
||
| 29 | * @brief Contains wireless declarations and functions
|
||
| 30 | *
|
||
| 31 | 3a73516c | Alex | * @defgroup wirelessreceiver WirelessReceiver
|
| 32 | * @brief Contains functions and definitions for the use of XBee wireless
|
||
| 33 | * @ingroup behavior
|
||
| 34 | 5d634058 | Tom Mullins | *
|
| 35 | * @author Colony Project, CMU Robotics Club
|
||
| 36 | * @author Tom Mullins
|
||
| 37 | 3a73516c | Alex | *
|
| 38 | * @{
|
||
| 39 | 5d634058 | Tom Mullins | **/
|
| 40 | |||
| 41 | #include "WirelessReceiver.h" |
||
| 42 | |||
| 43 | using namespace std; |
||
| 44 | |||
| 45 | /**
|
||
| 46 | * @brief Initializes wireless receiver
|
||
| 47 | *
|
||
| 48 | 5d0687a9 | Priya | * @param libscout_node Node handle of the ROS node used by libscout.
|
| 49 | **/
|
||
| 50 | WirelessReceiver::WirelessReceiver(const ros::NodeHandle& libscout_node)
|
||
| 51 | a8987cda | Tom Mullins | : node(libscout_node), callback(bind(&WirelessReceiver::dummy, this, _1))
|
| 52 | 5d0687a9 | Priya | {
|
| 53 | sub = node.subscribe("/wireless/receive", QUEUE_SIZE,
|
||
| 54 | &WirelessReceiver::receive, this);
|
||
| 55 | } |
||
| 56 | |||
| 57 | /**
|
||
| 58 | * @brief Registers a function to be called upon receipt of a packet.
|
||
| 59 | *
|
||
| 60 | 5d634058 | Tom Mullins | * @param callback A function pointer to a function which is called whenever a
|
| 61 | * wireless packet is received. It should be of form:
|
||
| 62 | * void callback(const WirelessPacketConstPtr& packet);
|
||
| 63 | **/
|
||
| 64 | 5d0687a9 | Priya | void WirelessReceiver::register_callback(WirelessCallback new_callback)
|
| 65 | 5d634058 | Tom Mullins | {
|
| 66 | 5d0687a9 | Priya | callback = new_callback; |
| 67 | 5d634058 | Tom Mullins | } |
| 68 | |||
| 69 | /**
|
||
| 70 | * @brief The callback function to pass packets along to the user
|
||
| 71 | *
|
||
| 72 | * @todo Add some kind of filtering functionality
|
||
| 73 | **/
|
||
| 74 | void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet) |
||
| 75 | {
|
||
| 76 | a8987cda | Tom Mullins | callback(packet->data); |
| 77 | } |
||
| 78 | |||
| 79 | /**
|
||
| 80 | * @brief The default callback function, to be overwritten by register_callback
|
||
| 81 | */
|
||
| 82 | void WirelessReceiver::dummy(std::vector<uint8_t> data) {
|
||
| 83 | ROS_WARN("Warning: Ignored wireless packet.");
|
||
| 84 | 5d634058 | Tom Mullins | } |
| 85 | 3a73516c | Alex | |
| 86 | /** @} */ |