root / scout / libscout / src / WirelessReceiver.cpp @ 126fea96
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1 | 5d634058 | 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 WirelessReceiver.cpp
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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 | * @author Colony Project, CMU Robotics Club
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35 | * @author Tom Mullins
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36 | **/
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37 | |||
38 | #include "WirelessReceiver.h" |
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39 | |||
40 | using namespace std; |
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41 | |||
42 | /**
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43 | * @brief Initializes wireless receiver
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44 | *
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45 | 5d0687a9 | Priya | * @param libscout_node Node handle of the ROS node used by libscout.
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46 | **/
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47 | WirelessReceiver::WirelessReceiver(const ros::NodeHandle& libscout_node)
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48 | a8987cda | Tom Mullins | : node(libscout_node), callback(bind(&WirelessReceiver::dummy, this, _1))
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49 | 5d0687a9 | Priya | { |
50 | sub = node.subscribe("/wireless/receive", QUEUE_SIZE,
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51 | &WirelessReceiver::receive, this);
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52 | } |
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53 | |||
54 | /**
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55 | * @brief Registers a function to be called upon receipt of a packet.
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56 | *
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57 | 5d634058 | Tom Mullins | * @param callback A function pointer to a function which is called whenever a
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58 | * wireless packet is received. It should be of form:
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59 | * void callback(const WirelessPacketConstPtr& packet);
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60 | **/
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61 | 5d0687a9 | Priya | void WirelessReceiver::register_callback(WirelessCallback new_callback)
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62 | 5d634058 | Tom Mullins | { |
63 | 5d0687a9 | Priya | callback = new_callback; |
64 | 5d634058 | Tom Mullins | } |
65 | |||
66 | /**
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67 | * @brief The callback function to pass packets along to the user
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68 | *
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69 | * @todo Add some kind of filtering functionality
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70 | **/
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71 | void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet) |
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72 | { |
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73 | a8987cda | Tom Mullins | callback(packet->data); |
74 | } |
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75 | |||
76 | /**
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77 | * @brief The default callback function, to be overwritten by register_callback
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78 | */
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79 | void WirelessReceiver::dummy(std::vector<uint8_t> data) {
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80 | ROS_WARN("Warning: Ignored wireless packet.");
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81 | 5d634058 | Tom Mullins | } |