root / scout / libscout / src / WirelessReceiver.cpp @ c06735bb
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| 1 | 5d634058 | 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 WirelessReceiver.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 "WirelessReceiver.h" |
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| 39 | |||
| 40 | using namespace std; |
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| 41 | |||
| 42 | /**
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| 43 | * @brief Initializes wireless receiver
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| 44 | *
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| 45 | 5d0687a9 | Priya | * @param libscout_node Node handle of the ROS node used by libscout.
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| 46 | **/
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| 47 | WirelessReceiver::WirelessReceiver(const ros::NodeHandle& libscout_node)
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| 48 | a8987cda | Tom Mullins | : node(libscout_node), callback(bind(&WirelessReceiver::dummy, this, _1))
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| 49 | 5d0687a9 | Priya | {
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| 50 | sub = node.subscribe("/wireless/receive", QUEUE_SIZE,
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| 51 | &WirelessReceiver::receive, this);
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| 52 | } |
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| 53 | |||
| 54 | /**
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| 55 | * @brief Registers a function to be called upon receipt of a packet.
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| 56 | *
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| 57 | 5d634058 | Tom Mullins | * @param callback A function pointer to a function which is called whenever a
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| 58 | * wireless packet is received. It should be of form:
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| 59 | * void callback(const WirelessPacketConstPtr& packet);
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| 60 | **/
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| 61 | 5d0687a9 | Priya | void WirelessReceiver::register_callback(WirelessCallback new_callback)
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| 62 | 5d634058 | Tom Mullins | {
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| 63 | 5d0687a9 | Priya | callback = new_callback; |
| 64 | 5d634058 | Tom Mullins | } |
| 65 | |||
| 66 | /**
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| 67 | * @brief The callback function to pass packets along to the user
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| 68 | *
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| 69 | * @todo Add some kind of filtering functionality
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| 70 | **/
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| 71 | void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet) |
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| 72 | {
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| 73 | a8987cda | Tom Mullins | callback(packet->data); |
| 74 | } |
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| 75 | |||
| 76 | /**
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| 77 | * @brief The default callback function, to be overwritten by register_callback
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| 78 | */
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| 79 | void WirelessReceiver::dummy(std::vector<uint8_t> data) {
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| 80 | ROS_WARN("Warning: Ignored wireless packet.");
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| 81 | 5d634058 | Tom Mullins | } |