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root / scout / libscout / src / WirelessSender.h @ 5d0687a9

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/**
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 * Copyright (c) 2012 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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/**
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 * @file WirelessSender.h
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 * @brief Contains wireless declarations and functions
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 * 
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 * Contains functions and definitions for the use of
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 * XBee wireless
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 *
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 * Uses the dest field of the wireless packet to specify which
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 * scout the message is intended for, or SCOUT_ALL to send to
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 * all scouts
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Tom Mullins
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 **/
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#ifndef _WIRELESS_SENDER_H_
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#define _WIRELESS_SENDER_H_
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#include <vector>
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#include <ros/ros.h>
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#include "messages/WirelessPacket.h"
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#include "constants.h"
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/// A macro to allow sending to all the scouts.
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#define SCOUT_ALL (messages::WirelessPacket::DEST_BROADCAST)
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class WirelessSender
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{
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    public:
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        WirelessSender(const ros::NodeHandle& libscout_node,
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                uint16_t type = 0,
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                uint16_t pan = messages::WirelessPacket::PAN_DEFAULT,
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                uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT);
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        void setType(uint16_t type);
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        void setPan(uint16_t pan);
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        void setChannel(uint16_t channel);
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        void send(uint8_t data[], int length, uint16_t dest = SCOUT_ALL);
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        void send(std::vector<uint8_t>& data, uint16_t dest = SCOUT_ALL);
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    private:
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        ros::NodeHandle node;
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        ros::Publisher pub;
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        messages::WirelessPacket packet;
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};
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#endif