Revision 5d0687a9
Small changes to wireless, and starting turning with line following.
| scout/libscout/src/WirelessReceiver.cpp | ||
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/** |
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* @brief Initializes wireless receiver |
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* |
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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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{
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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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|
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/** |
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* @brief Registers a function to be called upon receipt of a packet. |
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* |
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* @param callback A function pointer to a function which is called whenever a |
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* wireless packet is received. It should be of form: |
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* void callback(const WirelessPacketConstPtr& packet); |
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**/ |
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WirelessReceiver::WirelessReceiver(WirelessCallback callback) |
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: callback(callback) |
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void WirelessReceiver::register_callback(WirelessCallback new_callback) |
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{
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sub = nh.subscribe("/wireless/receive", QUEUE_SIZE,
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&WirelessReceiver::receive, this); |
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callback = new_callback; |
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} |
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/** |
| ... | ... | |
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**/ |
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void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet) |
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{
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(*callback)(packet); |
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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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} |
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