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Revision a8987cda

IDa8987cda5e2c606b2aba534af5ee0edb027c69b3
Parent 1d1281cc
Child 788df921

Added by Thomas Mullins over 11 years ago

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.

View differences:

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 
    {
75 
        ROS_WARN("Warning: Ignored wireless packet.");
76 
    }
77 
    else
78 
    {
79 
        (*callback)(packet->data);
80 
    }
73 
    callback(packet->data);
74 
}
75 

  		




  
  76
  
    
/**


  		




  
  77
  
    
 * @brief The default callback function, to be overwritten by register_callback


  		




  
  78
  
    
 */


  		




  
  79
  
    
void WirelessReceiver::dummy(std::vector<uint8_t> data) {


  		




  
  80
  
    
    ROS_WARN("Warning: Ignored wireless packet.");


  		




  81
  81
  
    
}


  		












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