/ - Diff - Colony Scout OS - Robotics Club

Revision a8987cda

ID	a8987cda5e2c606b2aba534af5ee0edb027c69b3

Added by Thomas Mullins over 11 years ago

Fixes to WirelessReceiver and wl_test

Changed receive callback to use std::function so we can use std::bind to
pass non-static member functions. There is still a weird problem where
WirelessReceiver::dummy gets called many times for each incoming packet
in wl_test.

scout/libscout/CMakeLists.txt
36	36	set(CONTROL_CLASSES src/MotorControl.cpp src/SonarControl.cpp src/HeadlightControl.cpp src/ButtonControl.cpp src/WirelessSender.cpp src/WirelessReceiver.cpp src/EncodersControl.cpp src/LinesensorControl.cpp)
37	37
38	38	rosbuild_add_executable(libscout ${MAIN_FILES} ${BEHAVIOR_FILES} ${TEST_BEHAVIOR_FILES} ${CONTROL_CLASSES} ${HELPER_FILES})
	39	rosbuild_add_compile_flags(libscout -std=c++0x)
39	40	rosbuild_add_executable(test_encoders src/test_encoders.cpp)

      * @param libscout_node Node handle of the ROS node used by libscout.
      **/
     WirelessReceiver::WirelessReceiver(const ros::NodeHandle& libscout_node)
         : node(libscout_node)
         : node(libscout_node), callback(bind(&WirelessReceiver::dummy, this, _1))
+    {
         sub = node.subscribe("/wireless/receive", QUEUE_SIZE,
               &WirelessReceiver::receive, this);
-...
      **/
     void WirelessReceiver::receive(const ::messages::WirelessPacketConstPtr& packet)
+    {
         if (callback == NULL)
+        {
             ROS_WARN("Warning: Ignored wireless packet.");
+        }
         else
+        {
             (*callback)(packet->data);
+        }
         callback(packet->data);
+    }
     /**
      * @brief The default callback function, to be overwritten by register_callback
      */
     void WirelessReceiver::dummy(std::vector<uint8_t> data) {
         ROS_WARN("Warning: Ignored wireless packet.");
+    }

     #define _WIRELESS_RECEIVER_H_
     #include <vector>
     #include <functional>
     #include <ros/ros.h>
     #include "messages/WirelessPacket.h"
     #include "constants.h"
     typedef void (*WirelessCallback)(std::vector<uint8_t>);
     typedef std::function<void(std::vector<uint8_t>)> WirelessCallback;
     class WirelessReceiver
+    {
-...
             ros::NodeHandle node;
             WirelessCallback callback;
             void receive(const ::messages::WirelessPacketConstPtr&);
             void dummy(std::vector<uint8_t> data);
     };
     #endif

     #include "wl_test.h"
     #define DATA_SIZE 10
     using namespace std;
     bool is_receiving = false;
     uint8_t highest_received = 0;
     void data_callback(std::vector<uint8_t> data)
     void wl_test::data_callback(std::vector<uint8_t> data)
+    {
         cout << "Wireless callback triggered." << endl;;
         for (int i = 0; i < data.size(); i++)
+        {
             if (data[i] > highest_received)
+            {
                 highest_received = data[i];
+            }
+        }
         // 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()
+    {
         motors->set_sides(20, 50, MOTOR_ABSOLUTE);
         wl_receiver->register_callback(data_callback);
         wl_receiver->register_callback(std::bind(&wl_test::data_callback, this,
             std::placeholders::_1));
         while(ok())
+        {
             if (!is_receiving)
             // Publish 1 if we are scout1 until we get a response.
             if (scout_name == "scout1" && no_response)
+            {
                 // Fill up a bogus data array
                 vector<uint8_t> data;
                 for (int i = 0; i < DATA_SIZE; i++)
+                {
                     data.push_back(highest_received + i);
+                }
                 wl_sender->send(data);
                 cout << "Sent wireless packet." << endl;
                 is_receiving = true;
                 uint8_t data[1];
                 data[0] = 1;
                 wl_sender->send(data,1);
+            }
             spinOnce();
             loop_rate->sleep();
+        }
+    }

     /**
      * 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.
      */
     #ifndef _WL_TEST_H_
     #define _WL_TEST_H_
     #include "../Behavior.h"
     class wl_test : Behavior
+    {
         public:
             wl_test(std::string scoutname) : Behavior(scoutname, "wl_test") {};
             /** Actually executes the behavior. */
             void run();
     };
     #endif
     /**
      * 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.
      */
     #ifndef _WL_TEST_H_
     #define _WL_TEST_H_
     #include "../Behavior.h"
     class wl_test : Behavior
+    {
         public:
             wl_test(std::string scoutname) : Behavior(scoutname, "wl_test"),
                 no_response(true), scout_name(scoutname) {};
             /** Actually executes the behavior. */
             void data_callback(std::vector<uint8_t> data);
             void run();
         private:
             bool no_response;
             std::string scout_name;
     };
     #endif

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