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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 WirelessReceiver.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 "WirelessReceiver.h"
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using namespace std;
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/**
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 * @brief Initializes wireless receiver
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 * 
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 * @param libscout_node Node handle of the ROS node used by libscout.
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 **/
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WirelessReceiver::WirelessReceiver(const ros::NodeHandle& libscout_node)
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    : node(libscout_node), callback(bind(&WirelessReceiver::dummy, this, _1))
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{
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    sub = node.subscribe("/wireless/receive", QUEUE_SIZE,
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          &WirelessReceiver::receive, this);
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}
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/**
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 * @brief Registers a function to be called upon receipt of a packet.
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 *
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 * @param callback A function pointer to a function which is called whenever a
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 * wireless packet is received. It should be of form:
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 *     void callback(const WirelessPacketConstPtr& packet);
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 **/
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void WirelessReceiver::register_callback(WirelessCallback new_callback)
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{
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    callback = new_callback;
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}
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/**
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 * @brief The callback function to pass packets along to the user
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 * 
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 * @todo Add some kind of filtering functionality
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 **/
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void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet)
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{
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    callback(packet->data);
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}
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/**
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 * @brief The default callback function, to be overwritten by register_callback
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 */
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void WirelessReceiver::dummy(std::vector<uint8_t> data) {
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    ROS_WARN("Warning: Ignored wireless packet.");
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}