scoutos / scout / libscout / src / WirelessSender.h @ f8655f01
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1 | 71d57001 | Tom Mullins | /**
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2 | * Copyright (c) 2012 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 | |||
27 | /**
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28 | * @file WirelessSender.h
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29 | * @brief Contains wireless declarations and functions
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30 | *
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31 | * Contains functions and definitions for the use of
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32 | * XBee wireless
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33 | *
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34 | 5d0687a9 | Priya | * Uses the dest field of the wireless packet to specify which
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35 | * scout the message is intended for, or SCOUT_ALL to send to
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36 | * all scouts
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37 | *
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38 | 71d57001 | Tom Mullins | * @author Colony Project, CMU Robotics Club
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39 | * @author Tom Mullins
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40 | **/
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41 | |||
42 | #ifndef _WIRELESS_SENDER_H_
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43 | #define _WIRELESS_SENDER_H_
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44 | |||
45 | #include <vector> |
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46 | #include <ros/ros.h> |
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47 | #include "messages/WirelessPacket.h" |
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48 | #include "constants.h" |
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49 | |||
50 | 5d0687a9 | Priya | /// A macro to allow sending to all the scouts.
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51 | #define SCOUT_ALL (messages::WirelessPacket::DEST_BROADCAST)
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52 | |||
53 | 71d57001 | Tom Mullins | class WirelessSender |
54 | { |
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55 | public:
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56 | 5d0687a9 | Priya | WirelessSender(const ros::NodeHandle& libscout_node,
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57 | uint16_t type = 0,
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58 | 71d57001 | Tom Mullins | uint16_t pan = messages::WirelessPacket::PAN_DEFAULT, |
59 | uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT); |
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60 | |||
61 | void setType(uint16_t type);
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62 | void setPan(uint16_t pan);
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63 | void setChannel(uint16_t channel);
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64 | |||
65 | 5d0687a9 | Priya | void send(uint8_t data[], int length, uint16_t dest = SCOUT_ALL); |
66 | void send(std::vector<uint8_t>& data, uint16_t dest = SCOUT_ALL);
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67 | 71d57001 | Tom Mullins | |
68 | private:
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69 | 5d0687a9 | Priya | ros::NodeHandle node; |
70 | 71d57001 | Tom Mullins | ros::Publisher pub; |
71 | messages::WirelessPacket packet; |
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72 | }; |
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73 | |||
74 | #endif |