Include files correction
This commit is contained in:
Vivek Shankar Varadharajan
parent
63f2349618
commit
021d12b451
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@ -1,44 +0,0 @@
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#pragma once
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#include <stdio.h>
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#include <buzz_utility.h>
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#include <buzzuav_closures.h>
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#include <buzz/buzzdebug.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <iostream>
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#include <stdint.h>
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#include <map>
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using namespace std;
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namespace buzz_utility{
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struct pos_struct
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{
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double x,y,z;
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pos_struct(double x,double y,double z):x(x),y(y),z(z){};
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pos_struct(){}
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};
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typedef struct pos_struct Pos_struct ;
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uint16_t* u64_cvt_u16(uint64_t u64);
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int buzz_listen(const char* type,
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int msg_size);
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void neighbour_pos_callback(std::map< int, Pos_struct> neighbours_pos_map);
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void in_msg_process(uint64_t* payload);
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uint64_t* out_msg_process();
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int buzz_script_set(const char* bo_filename,
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const char* bdbg_filename, int robot_id);
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void buzz_script_step();
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void buzz_script_destroy();
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int buzz_script_done();
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}
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#pragma once
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//#ifndef BUZZUAV_CLOSURES_H
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//#define BUZZUAV_CLOSURES_H
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#include <buzz/buzzvm.h>
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#include <stdio.h>
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#include <uav_utility.h>
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#include <mavros_msgs/CommandCode.h>
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#include <ros/ros.h>
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namespace buzzuav_closures{
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/*
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* prextern int() function in Buzz
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* This function is used to print data from buzz
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* The command to use in Buzz is buzzros_print takes any available datatype in Buzz
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*/
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int buzzros_print(buzzvm_t vm);
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/*
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* buzzuav_goto(latitude,longitude,altitude) function in Buzz
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* commands the UAV to go to a position supplied
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*/
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int buzzuav_goto(buzzvm_t vm);
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/* Returns the current command from local variable*/
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int getcmd();
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/*Sets goto position could be used for bypassing*/
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void set_goto(double pos[]);
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/*sets rc requested command */
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void rc_call(int rc_cmd);
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/* sets the battery state */
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void set_battery(float voltage,float current,float remaining);
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/*retuns the current go to position */
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double* getgoto();
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/*
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* Commands the UAV to takeoff
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*/
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int buzzuav_takeoff(buzzvm_t vm);
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/* Commands the UAV to land
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*/
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int buzzuav_land(buzzvm_t vm);
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/* Command the UAV to go to home location
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*/
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int buzzuav_gohome(buzzvm_t vm);
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/*
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* Updates battery information in Buzz
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*/
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int buzzuav_update_battery(buzzvm_t vm);
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/*
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* Updates IR information in Buzz
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* Proximity and ground sensors to do !!!!
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*/
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int buzzuav_update_prox(buzzvm_t vm);
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//#endif
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}
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@ -1,101 +0,0 @@
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#pragma once
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#include <ros/ros.h>
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#include <sensor_msgs/NavSatFix.h>
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#include <mavros_msgs/GlobalPositionTarget.h>
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#include <mavros_msgs/CommandCode.h>
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#include <mavros_msgs/CommandInt.h>
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#include <mavros_msgs/State.h>
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#include <mavros_msgs/BatteryStatus.h>
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#include <mavros_msgs/Mavlink.h>
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#include <sensor_msgs/NavSatStatus.h>
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#include <sstream>
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#include <buzz/buzzasm.h>
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#include <buzzuav_closures.h>
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#include <buzz_utility.h>
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#include <uav_utility.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <signal.h>
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#include <ostream>
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#include <map>
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using namespace std;
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namespace rosbzz_node{
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class roscontroller{
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public:
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roscontroller();
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~roscontroller();
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void RosControllerRun();
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private:
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double cur_pos[3];
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uint64_t payload;
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std::map< int, buzz_utility::Pos_struct> neighbours_pos_map;
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int timer_step=0;
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int robot_id=0;
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int oldcmdID=0;
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std::string bzzfile_name, fcclient_name, rcservice_name; //, rcclient;
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bool rcclient;
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ros::ServiceClient mav_client;
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ros::Publisher payload_pub;
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ros::ServiceServer service;
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ros::Subscriber current_position_sub;
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ros::Subscriber battery_sub;
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ros::Subscriber payload_sub;
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/*Create node Handler*/
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ros::NodeHandle n_c;
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/*Commands for flight controller*/
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mavros_msgs::CommandInt cmd_srv;
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/* The bytecode filename */
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char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1];
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/* The debugging information file name */
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char* dbgfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bdbg"; //argv[2];
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void Initialize_pub_sub();
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/*Obtain data from ros parameter server*/
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void Rosparameters_get();
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void Compile_bzz();
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/*Prepare messages and publish*/
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void prepare_msg_and_publish();
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/*Refresh neighbours Position for every ten step*/
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void maintain_pos(int tim_step);
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/*Maintain neighbours position*/
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void neighbours_pos_maintain(int id, buzz_utility::Pos_struct pos_arr );
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/*Set the current position of the robot callback*/
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void set_cur_pos(double latitude,
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double longitude,
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double altitude);
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/*convert from catresian to spherical coordinate system callback */
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double* cvt_spherical_coordinates(double neighbours_pos_payload []);
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/*battery status callback*/
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void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
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/*current position callback*/
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void current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg);
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/*payload callback callback*/
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inline void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg);
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/* RC commands service */
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inline bool rc_callback(mavros_msgs::CommandInt::Request &req,
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mavros_msgs::CommandInt::Response &res);
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};
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}
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