scoutos / scout / libscout / src / WirelessSender.h @ 1034f829
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1 | 71d57001 | 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 WirelessSender.h
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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 | #ifndef _WIRELESS_SENDER_H_
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39 | #define _WIRELESS_SENDER_H_
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40 | |||
41 | #include <vector> |
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42 | #include <ros/ros.h> |
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43 | #include "messages/WirelessPacket.h" |
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44 | #include "constants.h" |
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45 | |||
46 | class WirelessSender |
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47 | { |
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48 | public:
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49 | WirelessSender(uint16_t type = 0,
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50 | uint16_t dest = messages::WirelessPacket::DEST_BROADCAST, |
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51 | uint16_t pan = messages::WirelessPacket::PAN_DEFAULT, |
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52 | uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT); |
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53 | |||
54 | void setType(uint16_t type);
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55 | void setDest(uint16_t dest);
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56 | void setPan(uint16_t pan);
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57 | void setChannel(uint16_t channel);
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58 | |||
59 | void send(uint8_t data[], int length); |
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60 | void send(std::vector<uint8_t>& data);
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61 | |||
62 | private:
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63 | ros::NodeHandle nh; |
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64 | ros::Publisher pub; |
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65 | messages::WirelessPacket packet; |
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66 | |||
67 | void publish();
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68 | }; |
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69 | |||
70 | #endif |