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root / scout / libscout / src / behaviors / wl_test.cpp @ a8987cda

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/**
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 * Copyright (c) 2011 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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#include "wl_test.h"
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using namespace std;
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void wl_test::data_callback(std::vector<uint8_t> data)
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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);
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}
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void wl_test::run()
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{
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    wl_receiver->register_callback(std::bind(&wl_test::data_callback, this,
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        std::placeholders::_1));
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    while(ok())
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    {
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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) 
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        {
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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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    }
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}