Colony » Colony Scout

/**

 * 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 WirelessReceiver.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 "WirelessReceiver.h"

using namespace std;

/**

 * @brief Initializes wireless receiver

 * 

 * @param callback A function pointer to a function which is called whenever a

 * wireless packet is received. It should be of form:

 *     void callback(const WirelessPacketConstPtr& packet);

 **/

WirelessReceiver::WirelessReceiver(WirelessCallback callback)

    : callback(callback)

{

    sub = nh.subscribe("/wireless/receive", QUEUE_SIZE,

        &WirelessReceiver::receive, this);

}

/**

 * @brief The callback function to pass packets along to the user

 * 

 * @todo Add some kind of filtering functionality

 **/

void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet)

{

    (*callback)(packet);

}