cleanup

include/roscontroller.h~

@@ -1,103 +0,0 @@
-#pragma once
-#include "ros/ros.h"
-#include "sensor_msgs/NavSatFix.h"
-#include "mavros_msgs/GlobalPositionTarget.h"
-#include "mavros_msgs/CommandCode.h"
-#include "mavros_msgs/CommandInt.h"
-#include "mavros_msgs/State.h"
-#include "mavros_msgs/BatteryStatus.h"
-#include "mavros_msgs/Mavlink.h"
-#include "sensor_msgs/NavSatStatus.h"
-#include <sstream>
-#include <buzz/buzzasm.h>
-#include "buzzuav_closures.h"
-#include "buzz_utility.h"
-#include "uav_utility.h"
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-#include <signal.h>
-#include <ostream>
-#include <map>
-
-using namespace std;
-
-namespace rosbzz_node{
-
-
-class roscontroller{
-
-public:
-	roscontroller();
-	~roscontroller();
-	//void RosControllerInit();
-	void RosControllerRun();
-	/* The bytecode filename */
-   	char* bcfname; // = (char*)"/src/rosbuzz/src/out.bo"; //argv[1];
-   	/* The debugging information file name */
-   	char* dbgfname; //= (char*)"/src/rosbuzz/src/out.bdbg"; //argv[2];
-private:
-        
- 	double cur_pos[3];
-	uint64_t payload;
-	std::map< int,  buzz_utility::Pos_struct> neighbours_pos_map;
-	int timer_step=0;
-	int robot_id=0;
-        int oldcmdID=0;
-	int rc_cmd;
-	std::string bzzfile_name, fcclient_name, rcservice_name; //, rcclient;
-	bool rcclient;
-	ros::ServiceClient mav_client;
-	ros::Publisher payload_pub;
-	ros::ServiceServer service;
-	ros::Subscriber current_position_sub;
-	ros::Subscriber battery_sub;
-	ros::Subscriber payload_sub;
-	/*Create node Handler*/
-		ros::NodeHandle n_c;
-	/*Commands for flight controller*/
-  		mavros_msgs::CommandInt cmd_srv;	
-  	
-
-	void Initialize_pub_sub();
-
-	/*Obtain data from ros parameter server*/	
-	void Rosparameters_get();
-
-	void Compile_bzz();
-
-	/*Prepare messages and publish*/
-	inline void prepare_msg_and_publish();
-
-	  	
-	/*Refresh neighbours Position for every ten step*/
-	inline void maintain_pos(int tim_step);
-
-	/*Maintain neighbours position*/
-	inline void neighbours_pos_maintain(int id, buzz_utility::Pos_struct pos_arr );
-
-        /*Set the current position of the robot callback*/
-	inline void set_cur_pos(double latitude,
-			 double longitude,
-			 double altitude);
-	/*convert from catresian to spherical coordinate system callback */
-	inline double* cvt_spherical_coordinates(double neighbours_pos_payload []);
-	
-	/*battery status callback*/ 
-	inline void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
-
-	/*current position callback*/
-	inline void current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg);
-
-	/*payload callback callback*/
-	inline void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg);
-
-	/* RC commands service */
-	inline bool rc_callback(mavros_msgs::CommandInt::Request  &req,
-		         mavros_msgs::CommandInt::Response &res);
-
-
-
-};
-
-}