Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2011 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.

 */

#include "wl_test.h"

using namespace std;

void wl_test::data_callback(std::vector<uint8_t> data)

{

    // We got a response! Stop publishing data = [1]

    if (no_response)

        no_response = false;

    ROS_INFO("Wireless callback triggered.");

    data[0]++;

    sleep(1);

    wl_sender->send(data,1);

}

void wl_test::run()

{

    wl_receiver->register_callback(std::bind(&wl_test::data_callback, this,

        std::placeholders::_1));

    while(ok())

    {

        // Publish 1 if we are scout1 until we get a response.

        if (scout_name == "scout1" && no_response) 

        {

            uint8_t data[1];

            data[0] = 1;

            wl_sender->send(data,1);

        }

        spinOnce();

        loop_rate->sleep();

    }

}