Revision a8987cda

View differences:

scout/libscout/CMakeLists.txt
36 36
set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp)
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rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${TEST_BEHAVIOR_FILES} ${CONTROL_CLASSES} ${HELPER_FILES})
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rosbuild_add_compile_flags(libscout -std=c++0x)
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rosbuild_add_executable(test_encoders src/test_encoders.cpp)
scout/libscout/src/WirelessReceiver.cpp
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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)
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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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void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet)
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{
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    if (callback == NULL)
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    {
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        ROS_WARN("Warning: Ignored wireless packet.");
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    }
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    else
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    {
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        (*callback)(packet->data);
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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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}
scout/libscout/src/WirelessReceiver.h
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#define _WIRELESS_RECEIVER_H_
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#include <vector>
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#include <functional>
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#include <ros/ros.h>
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#include "messages/WirelessPacket.h"
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#include "constants.h"
45 46

  
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typedef void (*WirelessCallback)(std::vector<uint8_t>);
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typedef std::function<void(std::vector<uint8_t>)> WirelessCallback;
47 48

  
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class WirelessReceiver
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{
......
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        ros::NodeHandle node;
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        WirelessCallback callback;
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        void receive(const ::messages::WirelessPacketConstPtr&);
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        void dummy(std::vector<uint8_t> data);
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};
63 65

  
64 66
#endif
scout/libscout/src/behaviors/wl_test.cpp
25 25

  
26 26
#include "wl_test.h"
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#define DATA_SIZE 10
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30 28
using namespace std;
31 29

  
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bool is_receiving = false;
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uint8_t highest_received = 0;
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void data_callback(std::vector<uint8_t> data)
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void wl_test::data_callback(std::vector<uint8_t> data)
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{
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    cout << "Wireless callback triggered." << endl;;
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    for (int i = 0; i < data.size(); i++)
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    {
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        if (data[i] > highest_received)
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        {
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            highest_received = data[i];
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        }
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    }
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    // We got a response! Stop publishing data = [1]
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    if (no_response)
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        no_response = false;
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    ROS_INFO("Wireless callback triggered.");
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    data[0]++;
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    sleep(1);
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    wl_sender->send(data,1);
45 40
}
46 41

  
47 42
void wl_test::run()
48 43
{
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    motors->set_sides(20, 50, MOTOR_ABSOLUTE);
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    wl_receiver->register_callback(data_callback);
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    wl_receiver->register_callback(std::bind(&wl_test::data_callback, this,
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        std::placeholders::_1));
52 46
    while(ok())
53 47
    {
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        if (!is_receiving)
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        // Publish 1 if we are scout1 until we get a response.
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        if (scout_name == "scout1" && no_response) 
55 50
        {
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            // Fill up a bogus data array
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            vector<uint8_t> data;
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            for (int i = 0; i < DATA_SIZE; i++)
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            {
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                data.push_back(highest_received + i);
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            }
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            wl_sender->send(data);
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            cout << "Sent wireless packet." << endl;
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            is_receiving = true;
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            uint8_t data[1];
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            data[0] = 1;
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            wl_sender->send(data,1);
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        }
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        spinOnce();
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        loop_rate->sleep();
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    }
71 58
}
72

  
scout/libscout/src/behaviors/wl_test.h
1
/**
2
 * Copyright (c) 2011 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
 * 
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 * 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
#ifndef _WL_TEST_H_
27
#define _WL_TEST_H_
28

  
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#include "../Behavior.h"
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class wl_test : Behavior
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{
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    public:
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        wl_test(std::string scoutname) : Behavior(scoutname, "wl_test") {};
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        /** Actually executes the behavior. */
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        void run();
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};
39

  
40
#endif
1
/**
2
 * Copyright (c) 2011 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
#ifndef _WL_TEST_H_
27
#define _WL_TEST_H_
28

  
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#include "../Behavior.h"
30

  
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class wl_test : Behavior
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{
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    public:
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        wl_test(std::string scoutname) : Behavior(scoutname, "wl_test"),
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            no_response(true), scout_name(scoutname) {};
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        /** Actually executes the behavior. */
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        void data_callback(std::vector<uint8_t> data);
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        void run();
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    private:
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        bool no_response;
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        std::string scout_name;
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};
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#endif

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