Colony » Colony Scout

rosbuild_add_executable(libscout src/Behavior.cpp src/behaviors/draw_cw_circle.cpp src/behaviors/draw_ccw_circle.cpp src/BehaviorList.cpp src/BehaviorProcess.cpp src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/CliffsensorControl.cpp src/WirelessSender.cpp)

  <depend package="messages"/>

/**

 * Copyright (c) 2012 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file WirelessSender.cpp

 * @brief Contains wireless declarations and functions

 * 

 * Contains functions and definitions for the use of

 * XBee wireless

 *

 * @author Colony Project, CMU Robotics Club

 * @author Tom Mullins

 **/

#include "WirelessSender.h"

using namespace std;

using namespace ::messages;

WirelessSender::WirelessSender(uint16_t type, uint16_t dest, uint16_t pan,

    uint16_t channel)

{

    packet.type = type;

    packet.dest = dest;

    packet.pan = pan;

    packet.channel = channel;

    pub = nh.advertise< ::messages::WirelessPacket>("/wireless/send",

        QUEUE_SIZE);

}

void WirelessSender::setType(uint16_t type)

{

    packet.type = type;

}

void WirelessSender::setDest(uint16_t dest)

{

    packet.dest = dest;

}

void WirelessSender::setPan(uint16_t pan)

{

    packet.pan = pan;

}

void WirelessSender::setChannel(uint16_t channel)

{

    packet.channel = channel;

}

void WirelessSender::send(uint8_t data[], int length)

{

    packet.data.clear();

    for (int i = 0; i < length; i++)

    {

        packet.data.push_back(data[i]);

    }

    publish();

}

void WirelessSender::send(vector<uint8_t>& data)

{

    packet.data = data;

    publish();

}

void WirelessSender::publish()

{

    pub.publish(packet);

}

/**

 * Copyright (c) 2012 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file WirelessSender.h

 * @brief Contains wireless declarations and functions

 * 

 * Contains functions and definitions for the use of

 * XBee wireless

 *

 * @author Colony Project, CMU Robotics Club

 * @author Tom Mullins

 **/

#ifndef _WIRELESS_SENDER_H_

#define _WIRELESS_SENDER_H_

#include <vector>

#include <ros/ros.h>

#include "messages/WirelessPacket.h"

#include "constants.h"

class WirelessSender

{

    public:

        WirelessSender(uint16_t type = 0,

                uint16_t dest = messages::WirelessPacket::DEST_BROADCAST,

                uint16_t pan = messages::WirelessPacket::PAN_DEFAULT,

                uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT);

        void setType(uint16_t type);

        void setDest(uint16_t dest);

        void setPan(uint16_t pan);

        void setChannel(uint16_t channel);

        void send(uint8_t data[], int length);

        void send(std::vector<uint8_t>& data);

    private:

        ros::NodeHandle nh;

        ros::Publisher pub;

        messages::WirelessPacket packet;

        void publish();

};

#endif

rosbuild_genmsg()

uint16 type 

uint16 channel

uint16 pan

uint16 dest

uint8[] data

uint16 CHANNEL_DEFAULT = 0

uint16 PAN_DEFAULT = 65535

uint16 DEST_BROADCAST = 65535