Untabification and Added get functions for Xbee_status

include/roscontroller.h

@@ -42,9 +42,11 @@
 
 using namespace std;
 
-namespace rosbzz_node{
+namespace rosbzz_node
+{
 
-class roscontroller{
+class roscontroller
+{
 
 public:
   roscontroller(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv);
@@ -56,18 +58,17 @@ private:
   struct num_robot_count
   {
     uint8_t history[10];
-		uint8_t index=0;
-	  	uint8_t current=0;
+    uint8_t index = 0;
+    uint8_t current = 0;
     num_robot_count(){}
-	  
-	}; typedef struct num_robot_count Num_robot_count ;
+  }; typedef struct num_robot_count Num_robot_count ; // not useful in cpp
 
   struct gps
   {
     double longitude=0.0;
     double latitude=0.0;
     float  altitude=0.0;
-	}; typedef struct gps GPS ;
+  }; typedef struct gps GPS ; // not useful in cpp
 
   GPS target, home, cur_pos;
   double cur_rel_altitude;
@@ -88,7 +89,7 @@ private:
   uint8_t no_of_robots=0;
   /*tmp to be corrected*/
   uint8_t no_cnt=0;
-	uint8_t old_val=0;	
+  uint8_t old_val=0	;
   std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name, setpoint_name;
   std::string stream_client_name;
   std::string relative_altitude_sub_name;
@@ -178,7 +179,7 @@ private:
       double gps_t_lon, double gps_t_lat,
       double gps_r_lon, double gps_r_lat);
 
-	/*battery status callback*/ 
+  /*battery status callback */
   void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
 
   /*flight extended status callback*/
@@ -232,7 +233,15 @@ private:
   void SetStreamRate(int id, int rate, int on_off);
 
   void get_number_of_robots();
+
   void GetRobotId();
+  bool GetDequeFull(bool &result);
+  bool GetRssi(float &result);
+  bool TriggerAPIRssi(const uint8_t short_id);
+  bool GetAPIRssi(const uint8_t short_id, float &result);
+  bool GetRawPacketLoss(const uint8_t short_id, float &result);
+  bool GetFilteredPacketLoss(const uint8_t short_id, float &result);
+
 };
 
 }

src/buzz_utility.cpp

@@ -414,7 +414,7 @@ int create_stig_tables() {
         //buzzvm_gstore(VM);
 		//buzzvm_dump(VM);
 
-		/*buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
+		buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
         buzzvm_gload(VM);
         buzzvm_pushs(VM, buzzvm_string_register(VM, "put", 1));
         buzzvm_tget(VM);
@@ -785,5 +785,3 @@ int create_stig_tables() {
 		buzzvm_gstore(VM);
 	}
 }
-
-

src/buzzuav_closures.cpp

@@ -18,13 +18,13 @@ namespace buzzuav_closures{
   static double goto_pos[3];
   static double rc_goto_pos[3];
   static float batt[3];
-	static float obst[5]={0,0,0,0,0};
+  static float obst[5] = {0,0,0,0,0};
   static double cur_pos[3];
   static uint8_t status;
   static int cur_cmd = 0;
-	static int rc_cmd=0;
-	static int buzz_cmd=0;
-	static float height=0;
+  static int rc_cmd = 0;
+  static int buzz_cmd = 0;
+  static float height = 0;
 
 
   std::map< int,  buzz_utility::Pos_struct> neighbors_map;
@@ -32,15 +32,18 @@ namespace buzzuav_closures{
   /****************************************/
   /****************************************/
 
-	int buzzros_print(buzzvm_t vm) {
+  int buzzros_print(buzzvm_t vm)
+  {
     int i;
     char buffer [50] = "";
     sprintf(buffer,"%s [%i]", buffer, (int)buzz_utility::get_robotid());
-	   for(i = 1; i < buzzdarray_size(vm->lsyms->syms); ++i) {
+    for(i = 1; i < buzzdarray_size(vm->lsyms->syms); ++i)
+    {
       buzzvm_lload(vm, i);
       buzzobj_t o = buzzvm_stack_at(vm, 1);
       buzzvm_pop(vm);
-	      switch(o->o.type) {
+      switch(o->o.type)
+      {
          case BUZZTYPE_NIL:
             sprintf(buffer,"%s BUZZ - [nil]", buffer);
             break;
@@ -70,7 +73,7 @@ namespace buzzuav_closures{
             break;
       }
     }
-	   ROS_INFO(buffer);
+    ROS_INFO("%s",buffer);
     //fprintf(stdout, "\n");
     return buzzvm_ret0(vm);
   }
@@ -107,7 +110,8 @@ namespace buzzuav_closures{
   /*----------------------------------------/
   / Buzz closure to move following a 2D vector
   /----------------------------------------*/
-	int buzzuav_moveto(buzzvm_t vm) {
+  int buzzuav_moveto(buzzvm_t vm)
+  {
      buzzvm_lnum_assert(vm, 2);
      buzzvm_lload(vm, 1); /* dx */
      buzzvm_lload(vm, 2); /* dy */
@@ -117,7 +121,8 @@ namespace buzzuav_closures{
      buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
      float dy = buzzvm_stack_at(vm, 1)->f.value;
      float dx = buzzvm_stack_at(vm, 2)->f.value;
-	   double d = sqrt(dx*dx+dy*dy);	//range
+     // The compiler warnings are useful!
+     // double d = sqrt(dx*dx+dy*dy);	//range
      goto_pos[0]=dx;
      goto_pos[1]=dy;
      goto_pos[2]=height;