scoutos / scout / libscout / src / WirelessSender.cpp @ 30a3768e
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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 WirelessSender.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 "WirelessSender.h" |
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using namespace std; |
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using namespace ::messages; |
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WirelessSender::WirelessSender(const ros::NodeHandle& libscout_node,
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uint16_t type, uint16_t pan, uint16_t channel) |
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: node(libscout_node) |
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{ |
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packet.type = type; |
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packet.pan = pan; |
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packet.channel = channel; |
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pub = node.advertise< ::messages::WirelessPacket>("/wireless/send",
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QUEUE_SIZE); |
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} |
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void WirelessSender::setType(uint16_t type)
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{ |
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packet.type = type; |
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} |
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void WirelessSender::setPan(uint16_t pan)
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{ |
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packet.pan = pan; |
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} |
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void WirelessSender::setChannel(uint16_t channel)
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{ |
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packet.channel = channel; |
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} |
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void WirelessSender::send(uint8_t data[], int length, uint16_t dest) |
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{ |
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packet.dest = dest; |
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packet.data.clear(); |
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for (int i = 0; i < length; i++) |
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{ |
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packet.data.push_back(data[i]); |
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} |
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pub.publish(packet); |
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} |
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void WirelessSender::send(vector<uint8_t>& data, uint16_t dest)
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{ |
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packet.dest = dest; |
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packet.data = data; |
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pub.publish(packet); |
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} |