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/**

 * Copyright (c) 2012 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.

 */

/**

 * @file WirelessSender.h

 * @brief Contains wireless declarations and functions

 * 

 * Contains functions and definitions for the use of

 * XBee wireless

 *

 * Uses the dest field of the wireless packet to specify which

 * scout the message is intended for, or SCOUT_ALL to send to

 * all scouts

 *

 * @author Colony Project, CMU Robotics Club

 * @author Tom Mullins

 **/

#ifndef _WIRELESS_SENDER_H_

#define _WIRELESS_SENDER_H_

#include <vector>

#include <ros/ros.h>

#include "messages/WirelessPacket.h"

#include "constants.h"

/// A macro to allow sending to all the scouts.

#define SCOUT_ALL (messages::WirelessPacket::DEST_BROADCAST)

class WirelessSender

{

    public:

        WirelessSender(const ros::NodeHandle& libscout_node,

                uint16_t type = 0,

                uint16_t pan = messages::WirelessPacket::PAN_DEFAULT,

                uint16_t channel = messages::WirelessPacket::CHANNEL_DEFAULT);

        void setType(uint16_t type);

        void setPan(uint16_t pan);

        void setChannel(uint16_t channel);

        void send(uint8_t data[], int length, uint16_t dest = SCOUT_ALL);

        void send(std::vector<uint8_t>& data, uint16_t dest = SCOUT_ALL);

    private:

        ros::NodeHandle node;

        ros::Publisher pub;

        messages::WirelessPacket packet;

};

#endif