wifi_comm::WiFiComm Class Reference

C++ class for the WiFiComm multi-robot communication lib. More...

#include <inc/wifi_comm_lib.h>

List of all members.

Public Member Functions
std::string *	openForeignRelay (char *ip, char *topic, bool public_publish=true, bool append_my_ip=true)
	Open foreign relay.
std::string *	openForeignRelay (char *ip, char *local_topic, char *foreign_topic)
	Open foreign relay.
	WiFiComm (void(*fp)(char *ip))
	Deprecated constructor.
	WiFiComm (boost::function< void(char *ip)> f)
	Constructor.
	~WiFiComm ()
	Destructor.
Static Public Member Functions
static char *	concatTopicAndIp (char *final_topic, char *topic, const char *ip)
	Concat topic and ip.
Public Attributes
wifi_comm::WiFiNeighboursList	neighbours_list_
	List of neighbour robots.
Private Member Functions
void	closeForeignRelay (char *ip)
	Close foreign relay.
void	neighboursListUpdated (const wifi_comm::WiFiNeighboursListConstPtr &msg)
	Goal callback.
Private Attributes
boost::function< void(char *)	boost_callback_ )
	Boost callback function.
void(*	c_callback_ )(char *ip)
	C style callback function.
std::vector< ForeignRelay >	foreign_relays_
	Vector of foreign relays.
ros::NodeHandle	n_
	Node handle.
ros::Subscriber	neighbours_sub_
	Subscriber for the WiFiNeighboursList message.
bool	using_boost_
	Whether we are using the boost callback function or not.

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Detailed Description

C++ class for the WiFiComm multi-robot communication lib.

This class allows for multi-robot communication through the use of OLSRD and the WifiComm discovery node.

Definition at line 68 of file wifi_comm_lib.h.

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Constructor & Destructor Documentation

wifi_comm::WiFiComm::WiFiComm

(

void(*)(char *ip)

fp

)

Deprecated constructor.

Parameters:

fp	C style callback function.

Definition at line 39 of file wifi_comm_lib.cpp.

wifi_comm::WiFiComm::WiFiComm

(

boost::function< void(char *ip)>

f

)

Constructor.

Parameters:

f	Boost callback function.

Definition at line 49 of file wifi_comm_lib.cpp.

wifi_comm::WiFiComm::~WiFiComm

(

)

Destructor.

Definition at line 57 of file wifi_comm_lib.cpp.

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Member Function Documentation

void wifi_comm::WiFiComm::closeForeignRelay

(

char *

ip

)

[private]

Close foreign relay.

This function closes an existing foreign relay.

Parameters:

ip	The ip adress of the foreign relays to close.

Definition at line 145 of file wifi_comm_lib.cpp.

char * wifi_comm::WiFiComm::concatTopicAndIp	(	char *	final_topic,
		char *	topic,
		const char *	ip
	)		[static]

Concat topic and ip.

This function concatenates a topic and an ip adress thus creating a unique topic to be advertised.

Parameters:

final_topic	C-string containing the final topic.
topic	C-string containing the base topic name.
ip	C-string containing the ip adress.

Returns:

A pointer to the final topic.

Definition at line 66 of file wifi_comm_lib.cpp.

void wifi_comm::WiFiComm::neighboursListUpdated

(

const wifi_comm::WiFiNeighboursListConstPtr &

msg

)

[private]

Goal callback.

This function is a callback for receiving WiFiNeighboursList messages.

Parameters:

msg	Received WiFiNeighboursList message.

Definition at line 180 of file wifi_comm_lib.cpp.

std::string * wifi_comm::WiFiComm::openForeignRelay	(	char *	ip,
		char *	topic,
		bool	public_publish = true,
		bool	append_my_ip = true
	)

Open foreign relay.

This function opens a foreign relay to publish a local topic on a foreign roscore at the given ip adress.

Parameters:

ip	C-string containing the ip adress.
topic	C-string containing the topic name.
public_publish	Wether to publish an ip specific topic or not.
append_my_ip	Wether to append my ip to the topic on the receiving end or not

Returns:

Foreign roscore ip adress.

Definition at line 77 of file wifi_comm_lib.cpp.

std::string * wifi_comm::WiFiComm::openForeignRelay	(	char *	ip,
		char *	local_topic,
		char *	foreign_topic
	)

Open foreign relay.

This function opens a foreign relay to publish a local topic on a foreign roscore at the given ip adress.

Parameters:

ip	C-string containing the ip adress.
topic	C-string containing the local topic name.
topic	C-string containing the foreign topic name.

Returns:

Foreign roscore ip adress.

Definition at line 115 of file wifi_comm_lib.cpp.

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Member Data Documentation

boost::function<void(char*) wifi_comm::WiFiComm::boost_callback_) [private]

Boost callback function.

Definition at line 160 of file wifi_comm_lib.h.

void(* wifi_comm::WiFiComm::c_callback_)(char *ip) [private]

C style callback function.

Definition at line 158 of file wifi_comm_lib.h.

std::vector<ForeignRelay> wifi_comm::WiFiComm::foreign_relays_ [private]

Vector of foreign relays.

Definition at line 135 of file wifi_comm_lib.h.

ros::NodeHandle wifi_comm::WiFiComm::n_ [private]

Node handle.

Definition at line 130 of file wifi_comm_lib.h.

wifi_comm::WiFiNeighboursList wifi_comm::WiFiComm::neighbours_list_

List of neighbour robots.

Definition at line 126 of file wifi_comm_lib.h.

ros::Subscriber wifi_comm::WiFiComm::neighbours_sub_ [private]

Subscriber for the WiFiNeighboursList message.

Definition at line 132 of file wifi_comm_lib.h.

bool wifi_comm::WiFiComm::using_boost_ [private]

Whether we are using the boost callback function or not.

Definition at line 156 of file wifi_comm_lib.h.

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The documentation for this class was generated from the following files:

• wifi_comm_lib.h
• wifi_comm_lib.cpp