diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp index 198e5c5..479945b 100644 --- a/src/buzz_utility.cpp +++ b/src/buzz_utility.cpp @@ -6,7 +6,7 @@ * @copyright 2016 MistLab. All rights reserved. */ -#include "buzz_utility.h" +#include namespace buzz_utility{ diff --git a/src/buzz_utility.h b/src/buzz_utility.h index ee85a0f..b6b8e0e 100644 --- a/src/buzz_utility.h +++ b/src/buzz_utility.h @@ -1,7 +1,7 @@ #pragma once #include -#include "buzz_utility.h" -#include "buzzuav_closures.h" +#include +#include #include #include #include diff --git a/src/buzzuav_closures.h b/src/buzzuav_closures.h index 6e3f805..4937812 100644 --- a/src/buzzuav_closures.h +++ b/src/buzzuav_closures.h @@ -3,9 +3,9 @@ //#define BUZZUAV_CLOSURES_H #include #include -#include "uav_utility.h" -#include "mavros_msgs/CommandCode.h" -#include "ros/ros.h" +#include +#include +#include namespace buzzuav_closures{ diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp index ac38094..cde13b2 100644 --- a/src/roscontroller.cpp +++ b/src/roscontroller.cpp @@ -98,7 +98,7 @@ namespace rosbzz_node{ system("bzzasm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg"); } - inline void roscontroller::prepare_msg_and_publish(){ + void roscontroller::prepare_msg_and_publish(){ /*prepare the goto publish message */ double* goto_pos = buzzuav_closures::getgoto(); cmd_srv.request.param1 = goto_pos[0]; @@ -138,7 +138,7 @@ namespace rosbzz_node{ /*Refresh neighbours Position for every ten step*/ - inline void roscontroller::maintain_pos(int tim_step){ + void roscontroller::maintain_pos(int tim_step){ if(timer_step >=10){ neighbours_pos_map.clear(); timer_step=0; @@ -146,7 +146,7 @@ namespace rosbzz_node{ } /*Maintain neighbours position*/ - inline void roscontroller::neighbours_pos_maintain(int id, buzz_utility::Pos_struct pos_arr ){ + void roscontroller::neighbours_pos_maintain(int id, buzz_utility::Pos_struct pos_arr ){ map< int, buzz_utility::Pos_struct >::iterator it = neighbours_pos_map.find(id); if(it!=neighbours_pos_map.end()) neighbours_pos_map.erase(it); @@ -155,7 +155,7 @@ namespace rosbzz_node{ /*Set the current position of the robot callback*/ - inline void roscontroller::set_cur_pos(double latitude, + void roscontroller::set_cur_pos(double latitude, double longitude, double altitude){ cur_pos [0] =latitude; @@ -165,7 +165,7 @@ namespace rosbzz_node{ } /*convert from catresian to spherical coordinate system callback */ - inline double* roscontroller::cvt_spherical_coordinates(double neighbours_pos_payload []){ + double* roscontroller::cvt_spherical_coordinates(double neighbours_pos_payload []){ double latitude,longitude,altitude; latitude=neighbours_pos_payload[0]; longitude = neighbours_pos_payload[1]; @@ -177,17 +177,17 @@ namespace rosbzz_node{ } /*battery status callback*/ - inline void roscontroller::battery(const mavros_msgs::BatteryStatus::ConstPtr& msg){ + void roscontroller::battery(const mavros_msgs::BatteryStatus::ConstPtr& msg){ buzzuav_closures::set_battery(msg->voltage,msg->current,msg->remaining); } /*current position callback*/ - inline void roscontroller::current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg){ + void roscontroller::current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg){ set_cur_pos(msg->latitude,msg->longitude,msg->altitude); } /*payload callback callback*/ - inline void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg){ + void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg){ uint64_t message_obt[msg->payload64.size()]; int i = 0; @@ -216,7 +216,7 @@ namespace rosbzz_node{ } /* RC command service */ - inline bool roscontroller::rc_callback(mavros_msgs::CommandInt::Request &req, + bool roscontroller::rc_callback(mavros_msgs::CommandInt::Request &req, mavros_msgs::CommandInt::Response &res){ int rc_cmd; if(req.command==oldcmdID) diff --git a/src/roscontroller.h b/src/roscontroller.h index 804d2b6..d498c82 100644 --- a/src/roscontroller.h +++ b/src/roscontroller.h @@ -1,18 +1,18 @@ #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 +#include +#include +#include +#include +#include +#include +#include +#include #include #include -#include "buzzuav_closures.h" -#include "buzz_utility.h" -#include "uav_utility.h" +#include +#include +#include #include #include #include @@ -49,13 +49,13 @@ private: ros::Subscriber battery_sub; ros::Subscriber payload_sub; /*Create node Handler*/ - ros::NodeHandle n_c; + ros::NodeHandle n_c; /*Commands for flight controller*/ - mavros_msgs::CommandInt cmd_srv; + mavros_msgs::CommandInt cmd_srv; /* The bytecode filename */ - char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1]; - /* The debugging information file name */ - char* dbgfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bdbg"; //argv[2]; + char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1]; + /* The debugging information file name */ + char* dbgfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bdbg"; //argv[2]; void Initialize_pub_sub(); @@ -65,27 +65,27 @@ private: void Compile_bzz(); /*Prepare messages and publish*/ - inline void prepare_msg_and_publish(); + void prepare_msg_and_publish(); /*Refresh neighbours Position for every ten step*/ - inline void maintain_pos(int tim_step); + void maintain_pos(int tim_step); /*Maintain neighbours position*/ - inline void neighbours_pos_maintain(int id, buzz_utility::Pos_struct pos_arr ); + 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, + 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 []); + double* cvt_spherical_coordinates(double neighbours_pos_payload []); /*battery status callback*/ - inline void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg); + void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg); /*current position callback*/ - inline void current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg); + void current_pos(const sensor_msgs::NavSatFix::ConstPtr& msg); /*payload callback callback*/ inline void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg);