Revision a8987cda
Fixes to WirelessReceiver and wl_test
Changed receive callback to use std::function so we can use std::bind to
pass non-static member functions. There is still a weird problem where
WirelessReceiver::dummy gets called many times for each incoming packet
in wl_test.
scout/libscout/CMakeLists.txt | ||
---|---|---|
36 | 36 |
set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp) |
37 | 37 |
|
38 | 38 |
rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${TEST_BEHAVIOR_FILES} ${CONTROL_CLASSES} ${HELPER_FILES}) |
39 |
rosbuild_add_compile_flags(libscout -std=c++0x) |
|
39 | 40 |
rosbuild_add_executable(test_encoders src/test_encoders.cpp) |
scout/libscout/src/WirelessReceiver.cpp | ||
---|---|---|
45 | 45 |
* @param libscout_node Node handle of the ROS node used by libscout. |
46 | 46 |
**/ |
47 | 47 |
WirelessReceiver::WirelessReceiver(const ros::NodeHandle& libscout_node) |
48 |
: node(libscout_node) |
|
48 |
: node(libscout_node), callback(bind(&WirelessReceiver::dummy, this, _1))
|
|
49 | 49 |
{ |
50 | 50 |
sub = node.subscribe("/wireless/receive", QUEUE_SIZE, |
51 | 51 |
&WirelessReceiver::receive, this); |
... | ... | |
70 | 70 |
**/ |
71 | 71 |
void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet) |
72 | 72 |
{ |
73 |
if (callback == NULL)
|
|
74 |
{
|
|
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ROS_WARN("Warning: Ignored wireless packet."); |
|
76 |
}
|
|
77 |
else
|
|
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{
|
|
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(*callback)(packet->data);
|
|
80 |
}
|
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callback(packet->data);
|
|
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}
|
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75 |
|
|
76 |
/**
|
|
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* @brief The default callback function, to be overwritten by register_callback
|
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78 |
*/
|
|
79 |
void WirelessReceiver::dummy(std::vector<uint8_t> data) {
|
|
80 |
ROS_WARN("Warning: Ignored wireless packet.");
|
|
81 | 81 |
} |
scout/libscout/src/WirelessReceiver.h | ||
---|---|---|
39 | 39 |
#define _WIRELESS_RECEIVER_H_ |
40 | 40 |
|
41 | 41 |
#include <vector> |
42 |
#include <functional> |
|
42 | 43 |
#include <ros/ros.h> |
43 | 44 |
#include "messages/WirelessPacket.h" |
44 | 45 |
#include "constants.h" |
45 | 46 |
|
46 |
typedef void (*WirelessCallback)(std::vector<uint8_t>);
|
|
47 |
typedef std::function<void(std::vector<uint8_t>)> WirelessCallback;
|
|
47 | 48 |
|
48 | 49 |
class WirelessReceiver |
49 | 50 |
{ |
... | ... | |
59 | 60 |
ros::NodeHandle node; |
60 | 61 |
WirelessCallback callback; |
61 | 62 |
void receive(const ::messages::WirelessPacketConstPtr&); |
63 |
void dummy(std::vector<uint8_t> data); |
|
62 | 64 |
}; |
63 | 65 |
|
64 | 66 |
#endif |
scout/libscout/src/behaviors/wl_test.cpp | ||
---|---|---|
25 | 25 |
|
26 | 26 |
#include "wl_test.h" |
27 | 27 |
|
28 |
#define DATA_SIZE 10 |
|
29 |
|
|
30 | 28 |
using namespace std; |
31 | 29 |
|
32 |
bool is_receiving = false; |
|
33 |
uint8_t highest_received = 0; |
|
34 |
|
|
35 |
void data_callback(std::vector<uint8_t> data) |
|
30 |
void wl_test::data_callback(std::vector<uint8_t> data) |
|
36 | 31 |
{ |
37 |
cout << "Wireless callback triggered." << endl;;
|
|
38 |
for (int i = 0; i < data.size(); i++)
|
|
39 |
{
|
|
40 |
if (data[i] > highest_received) |
|
41 |
{
|
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42 |
highest_received = data[i];
|
|
43 |
}
|
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}
|
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32 |
// We got a response! Stop publishing data = [1]
|
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if (no_response)
|
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no_response = false;
|
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35 |
|
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36 |
ROS_INFO("Wireless callback triggered.");
|
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37 |
data[0]++;
|
|
38 |
sleep(1);
|
|
39 |
wl_sender->send(data,1);
|
|
45 | 40 |
} |
46 | 41 |
|
47 | 42 |
void wl_test::run() |
48 | 43 |
{ |
49 |
motors->set_sides(20, 50, MOTOR_ABSOLUTE); |
|
50 |
wl_receiver->register_callback(data_callback); |
|
51 |
|
|
44 |
wl_receiver->register_callback(std::bind(&wl_test::data_callback, this, |
|
45 |
std::placeholders::_1)); |
|
52 | 46 |
while(ok()) |
53 | 47 |
{ |
54 |
if (!is_receiving) |
|
48 |
// Publish 1 if we are scout1 until we get a response. |
|
49 |
if (scout_name == "scout1" && no_response) |
|
55 | 50 |
{ |
56 |
// Fill up a bogus data array |
|
57 |
vector<uint8_t> data; |
|
58 |
for (int i = 0; i < DATA_SIZE; i++) |
|
59 |
{ |
|
60 |
data.push_back(highest_received + i); |
|
61 |
} |
|
62 |
|
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wl_sender->send(data); |
|
64 |
cout << "Sent wireless packet." << endl; |
|
65 |
is_receiving = true; |
|
51 |
uint8_t data[1]; |
|
52 |
data[0] = 1; |
|
53 |
wl_sender->send(data,1); |
|
66 | 54 |
} |
67 |
|
|
68 | 55 |
spinOnce(); |
69 | 56 |
loop_rate->sleep(); |
70 | 57 |
} |
71 | 58 |
} |
72 |
|
scout/libscout/src/behaviors/wl_test.h | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
*/ |
|
25 |
|
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26 |
#ifndef _WL_TEST_H_ |
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27 |
#define _WL_TEST_H_ |
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28 |
|
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#include "../Behavior.h" |
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30 |
|
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class wl_test : Behavior |
|
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{ |
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public: |
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wl_test(std::string scoutname) : Behavior(scoutname, "wl_test") {}; |
|
35 |
|
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/** Actually executes the behavior. */ |
|
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void run(); |
|
38 |
}; |
|
39 |
|
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40 |
#endif |
|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
*/ |
|
25 |
|
|
26 |
#ifndef _WL_TEST_H_ |
|
27 |
#define _WL_TEST_H_ |
|
28 |
|
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29 |
#include "../Behavior.h" |
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30 |
|
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31 |
class wl_test : Behavior |
|
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{ |
|
33 |
public: |
|
34 |
wl_test(std::string scoutname) : Behavior(scoutname, "wl_test"), |
|
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no_response(true), scout_name(scoutname) {}; |
|
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/** Actually executes the behavior. */ |
|
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void data_callback(std::vector<uint8_t> data); |
|
38 |
void run(); |
|
39 |
private: |
|
40 |
bool no_response; |
|
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std::string scout_name; |
|
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}; |
|
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|
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#endif |
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