scoutos / scout / libscout / src / behaviors / wl_test.cpp @ 7b5ea072
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1 | 26562d0c | Priya | /**
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2 | * Copyright (c) 2011 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 | #include "wl_test.h" |
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27 | |||
28 | using namespace std; |
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29 | |||
30 | a8987cda | Tom Mullins | void wl_test::data_callback(std::vector<uint8_t> data)
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31 | 26562d0c | Priya | { |
32 | a8987cda | Tom Mullins | // We got a response! Stop publishing data = [1]
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33 | if (no_response)
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34 | no_response = false;
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35 | |||
36 | ROS_INFO("Wireless callback triggered.");
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37 | data[0]++;
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38 | sleep(1);
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39 | wl_sender->send(data,1);
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40 | 26562d0c | Priya | } |
41 | |||
42 | void wl_test::run()
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43 | { |
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44 | a8987cda | Tom Mullins | wl_receiver->register_callback(std::bind(&wl_test::data_callback, this,
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45 | std::placeholders::_1)); |
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46 | 26562d0c | Priya | while(ok())
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47 | { |
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48 | a8987cda | Tom Mullins | // Publish 1 if we are scout1 until we get a response.
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49 | if (scout_name == "scout1" && no_response) |
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50 | 26562d0c | Priya | { |
51 | a8987cda | Tom Mullins | uint8_t data[1];
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52 | data[0] = 1; |
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53 | wl_sender->send(data,1);
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54 | 26562d0c | Priya | } |
55 | spinOnce(); |
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56 | loop_rate->sleep(); |
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57 | } |
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58 | } |