Spiri
/
ROSBuzz_MISTLab
13
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Header file corrections and inline method corrections commit

This commit is contained in:
Vivek Shankar Varadharajan 2016-10-11 01:20:31 -04:00
parent ba96337f5d
commit 63f2349618
5 changed files with 39 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/buzz_utility.cpp
View File

@ -6,7 +6,7 @@
* @copyright 2016 MistLab. All rights reserved. * @copyright 2016 MistLab. All rights reserved.
*/ */
#include "buzz_utility.h" #include <buzz_utility.h>
namespace buzz_utility{ namespace buzz_utility{

4
src/buzz_utility.h
View File

@ -1,7 +1,7 @@
#pragma once #pragma once
#include <stdio.h> #include <stdio.h>
#include "buzz_utility.h" #include <buzz_utility.h>
#include "buzzuav_closures.h" #include <buzzuav_closures.h>
#include <buzz/buzzdebug.h> #include <buzz/buzzdebug.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>

6
src/buzzuav_closures.h
View File

@ -3,9 +3,9 @@
//#define BUZZUAV_CLOSURES_H //#define BUZZUAV_CLOSURES_H
#include <buzz/buzzvm.h> #include <buzz/buzzvm.h>
#include <stdio.h> #include <stdio.h>
#include "uav_utility.h" #include <uav_utility.h>
#include "mavros_msgs/CommandCode.h" #include <mavros_msgs/CommandCode.h>
#include "ros/ros.h" #include <ros/ros.h>
namespace buzzuav_closures{ namespace buzzuav_closures{

18
src/roscontroller.cpp
View File

@ -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"); 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 */ /*prepare the goto publish message */
double* goto_pos = buzzuav_closures::getgoto(); double* goto_pos = buzzuav_closures::getgoto();
cmd_srv.request.param1 = goto_pos[0]; cmd_srv.request.param1 = goto_pos[0];
@ -138,7 +138,7 @@ namespace rosbzz_node{
/*Refresh neighbours Position for every ten step*/ /*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){ if(timer_step >=10){
neighbours_pos_map.clear(); neighbours_pos_map.clear();
timer_step=0; timer_step=0;
@ -146,7 +146,7 @@ namespace rosbzz_node{
} }
/*Maintain neighbours position*/ /*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); map< int, buzz_utility::Pos_struct >::iterator it = neighbours_pos_map.find(id);
if(it!=neighbours_pos_map.end()) if(it!=neighbours_pos_map.end())
neighbours_pos_map.erase(it); neighbours_pos_map.erase(it);
@ -155,7 +155,7 @@ namespace rosbzz_node{
/*Set the current position of the robot callback*/ /*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 longitude,
double altitude){ double altitude){
cur_pos [0] =latitude; cur_pos [0] =latitude;
@ -165,7 +165,7 @@ namespace rosbzz_node{
} }
/*convert from catresian to spherical coordinate system callback */ /*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; double latitude,longitude,altitude;
latitude=neighbours_pos_payload[0]; latitude=neighbours_pos_payload[0];
longitude = neighbours_pos_payload[1]; longitude = neighbours_pos_payload[1];
@ -177,17 +177,17 @@ namespace rosbzz_node{
} }
/*battery status callback*/ /*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); buzzuav_closures::set_battery(msg->voltage,msg->current,msg->remaining);
} }
/*current position callback*/ /*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); set_cur_pos(msg->latitude,msg->longitude,msg->altitude);
} }
/*payload callback callback*/ /*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()]; uint64_t message_obt[msg->payload64.size()];
int i = 0; int i = 0;
@ -216,7 +216,7 @@ namespace rosbzz_node{
} }
/* RC command service */ /* 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){ mavros_msgs::CommandInt::Response &res){
int rc_cmd; int rc_cmd;
if(req.command==oldcmdID) if(req.command==oldcmdID)

48
src/roscontroller.h
View File

@ -1,18 +1,18 @@
#pragma once #pragma once
#include "ros/ros.h" #include <ros/ros.h>
#include "sensor_msgs/NavSatFix.h" #include <sensor_msgs/NavSatFix.h>
#include "mavros_msgs/GlobalPositionTarget.h" #include <mavros_msgs/GlobalPositionTarget.h>
#include "mavros_msgs/CommandCode.h" #include <mavros_msgs/CommandCode.h>
#include "mavros_msgs/CommandInt.h" #include <mavros_msgs/CommandInt.h>
#include "mavros_msgs/State.h" #include <mavros_msgs/State.h>
#include "mavros_msgs/BatteryStatus.h" #include <mavros_msgs/BatteryStatus.h>
#include "mavros_msgs/Mavlink.h" #include <mavros_msgs/Mavlink.h>
#include "sensor_msgs/NavSatStatus.h" #include <sensor_msgs/NavSatStatus.h>
#include <sstream> #include <sstream>
#include <buzz/buzzasm.h> #include <buzz/buzzasm.h>
#include "buzzuav_closures.h" #include <buzzuav_closures.h>
#include "buzz_utility.h" #include <buzz_utility.h>
#include "uav_utility.h" #include <uav_utility.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include <math.h> #include <math.h>
@ -49,13 +49,13 @@ private:
ros::Subscriber battery_sub; ros::Subscriber battery_sub;
ros::Subscriber payload_sub; ros::Subscriber payload_sub;
/*Create node Handler*/ /*Create node Handler*/
ros::NodeHandle n_c; ros::NodeHandle n_c;
/*Commands for flight controller*/ /*Commands for flight controller*/
mavros_msgs::CommandInt cmd_srv; mavros_msgs::CommandInt cmd_srv;
/* The bytecode filename */ /* The bytecode filename */
char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1]; char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1];
/* The debugging information file name */ /* The debugging information file name */
char* dbgfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bdbg"; //argv[2]; char* dbgfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bdbg"; //argv[2];
void Initialize_pub_sub(); void Initialize_pub_sub();
@ -65,27 +65,27 @@ private:
void Compile_bzz(); void Compile_bzz();
/*Prepare messages and publish*/ /*Prepare messages and publish*/
inline void prepare_msg_and_publish(); void prepare_msg_and_publish();
/*Refresh neighbours Position for every ten step*/ /*Refresh neighbours Position for every ten step*/
inline void maintain_pos(int tim_step); void maintain_pos(int tim_step);
/*Maintain neighbours position*/ /*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*/ /*Set the current position of the robot callback*/
inline void set_cur_pos(double latitude, void set_cur_pos(double latitude,
double longitude, double longitude,
double altitude); double altitude);
/*convert from catresian to spherical coordinate system callback */ /*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*/ /*battery status callback*/
inline void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg); void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
/*current position callback*/ /*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*/ /*payload callback callback*/
inline void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg); inline void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg);