root / scout / libscout / src / WirelessReceiver.h @ b1fdaaf6
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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.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 | * @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 | #ifndef _WIRELESS_RECEIVER_H_
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39 | #define _WIRELESS_RECEIVER_H_
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40 | |||
41 | #include <vector> |
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42 | a8987cda | Tom Mullins | #include <functional> |
43 | 5d634058 | Tom Mullins | #include <ros/ros.h> |
44 | #include "messages/WirelessPacket.h" |
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45 | #include "constants.h" |
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46 | |||
47 | a8987cda | Tom Mullins | typedef std::function<void(std::vector<uint8_t>)> WirelessCallback; |
48 | 5d634058 | Tom Mullins | |
49 | class WirelessReceiver |
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50 | { |
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51 | 5d0687a9 | Priya | public:
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52 | /** Set up the class and prepare to communicate over ROS */
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53 | WirelessReceiver(const ros::NodeHandle& libscout_node);
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54 | |||
55 | /** Register a callback to be called every time a packet is received */
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56 | void register_callback(WirelessCallback new_callback);
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57 | |||
58 | private:
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59 | ros::Subscriber sub; |
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60 | ros::NodeHandle node; |
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61 | WirelessCallback callback; |
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62 | void receive(const ::messages::WirelessPacketConstPtr&); |
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63 | a8987cda | Tom Mullins | void dummy(std::vector<uint8_t> data);
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64 | 5d634058 | Tom Mullins | }; |
65 | |||
66 | #endif |