Untabification and Added get functions for Xbee_status
This commit is contained in:
pyhs
parent
1d24de28a5
commit
8e5acd264d
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@ -14,8 +14,8 @@
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namespace buzzuav_closures{
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typedef enum {
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COMMAND_NIL = 0, // Dummy command
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COMMAND_TAKEOFF, // Take off
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COMMAND_NIL = 0, // Dummy command
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COMMAND_TAKEOFF, // Take off
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COMMAND_LAND,
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COMMAND_GOHOME,
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COMMAND_ARM,
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@ -64,7 +64,7 @@ void set_obstacle_dist(float dist[]);
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*/
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int buzzuav_takeoff(buzzvm_t vm);
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/*
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* Arm command from Buzz
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* Arm command from Buzz
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*/
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int buzzuav_arm(buzzvm_t vm);
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/*
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@ -89,7 +89,7 @@ int buzzuav_update_battery(buzzvm_t vm);
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int buzzuav_update_currentpos(buzzvm_t vm);
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int buzzuav_adduserRB(buzzvm_t vm);
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/*
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* Updates flight status and rc command in Buzz, put it in a tabel to acess it
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* Updates flight status and rc command in Buzz, put it in a tabel to acess it
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* use flight.status for flight status
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* use flight.rc_cmd for current rc cmd
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*/
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@ -42,197 +42,206 @@
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using namespace std;
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namespace rosbzz_node{
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class roscontroller{
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namespace rosbzz_node
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{
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class roscontroller
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{
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public:
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roscontroller(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv);
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~roscontroller();
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//void RosControllerInit();
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void RosControllerRun();
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roscontroller(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv);
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~roscontroller();
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//void RosControllerInit();
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void RosControllerRun();
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private:
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struct num_robot_count
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{
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uint8_t history[10];
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uint8_t index=0;
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uint8_t current=0;
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num_robot_count(){}
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}; typedef struct num_robot_count Num_robot_count ;
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struct num_robot_count
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{
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uint8_t history[10];
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uint8_t index = 0;
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uint8_t current = 0;
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num_robot_count(){}
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}; typedef struct num_robot_count Num_robot_count ; // not useful in cpp
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struct gps
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{
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double longitude=0.0;
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double latitude=0.0;
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float altitude=0.0;
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}; typedef struct gps GPS ;
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GPS target, home, cur_pos;
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double cur_rel_altitude;
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struct gps
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{
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double longitude=0.0;
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double latitude=0.0;
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float altitude=0.0;
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}; typedef struct gps GPS ; // not useful in cpp
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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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std::map< int, buzz_utility::Pos_struct> raw_neighbours_pos_map;
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//std::map< int, buzz_utility::Pos_struct> pub_neigh_pos;
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int timer_step=0;
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int robot_id=0;
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std::string robot_name = "";
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GPS target, home, cur_pos;
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double cur_rel_altitude;
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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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std::map< int, buzz_utility::Pos_struct> raw_neighbours_pos_map;
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//std::map< int, buzz_utility::Pos_struct> pub_neigh_pos;
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int timer_step=0;
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int robot_id=0;
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std::string robot_name = "";
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//int oldcmdID=0;
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int rc_cmd;
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float fcu_timeout;
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int armstate;
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int barrier;
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int message_number=0;
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uint8_t no_of_robots=0;
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/*tmp to be corrected*/
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uint8_t no_cnt=0;
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uint8_t old_val=0;
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std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name, setpoint_name;
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std::string stream_client_name;
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std::string relative_altitude_sub_name;
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std::string setpoint_nonraw;
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bool rcclient;
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bool xbeeplugged = false;
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bool multi_msg;
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Num_robot_count count_robots;
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ros::ServiceClient mav_client;
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ros::ServiceClient xbeestatus_srv;
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ros::Publisher payload_pub;
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ros::Publisher neigh_pos_pub;
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ros::Publisher localsetpoint_nonraw_pub;
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ros::ServiceServer service;
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ros::Subscriber current_position_sub;
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ros::Subscriber users_sub;
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ros::Subscriber battery_sub;
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ros::Subscriber payload_sub;
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ros::Subscriber flight_status_sub;
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ros::Subscriber obstacle_sub;
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ros::Subscriber Robot_id_sub;
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ros::Subscriber relative_altitude_sub;
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int rc_cmd;
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float fcu_timeout;
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int armstate;
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int barrier;
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int message_number=0;
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uint8_t no_of_robots=0;
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/*tmp to be corrected*/
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uint8_t no_cnt=0;
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uint8_t old_val=0 ;
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std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name, setpoint_name;
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std::string stream_client_name;
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std::string relative_altitude_sub_name;
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std::string setpoint_nonraw;
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bool rcclient;
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bool xbeeplugged = false;
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bool multi_msg;
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Num_robot_count count_robots;
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ros::ServiceClient mav_client;
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ros::ServiceClient xbeestatus_srv;
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ros::Publisher payload_pub;
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ros::Publisher neigh_pos_pub;
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ros::Publisher localsetpoint_nonraw_pub;
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ros::ServiceServer service;
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ros::Subscriber current_position_sub;
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ros::Subscriber users_sub;
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ros::Subscriber battery_sub;
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ros::Subscriber payload_sub;
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ros::Subscriber flight_status_sub;
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ros::Subscriber obstacle_sub;
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ros::Subscriber Robot_id_sub;
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ros::Subscriber relative_altitude_sub;
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std::string local_pos_sub_name;
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ros::Subscriber local_pos_sub;
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double local_pos_new[3];
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std::string local_pos_sub_name;
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ros::Subscriber local_pos_sub;
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double local_pos_new[3];
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ros::ServiceClient stream_client;
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ros::ServiceClient stream_client;
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int setpoint_counter;
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double my_x = 0, my_y = 0;
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std::ofstream log;
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int setpoint_counter;
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double my_x = 0, my_y = 0;
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/*Commands for flight controller*/
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//mavros_msgs::CommandInt cmd_srv;
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mavros_msgs::CommandLong cmd_srv;
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std::vector<std::string> m_sMySubscriptions;
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std::map<std::string, std::string> m_smTopic_infos;
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std::ofstream log;
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mavros_msgs::CommandBool m_cmdBool;
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ros::ServiceClient arm_client;
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/*Commands for flight controller*/
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//mavros_msgs::CommandInt cmd_srv;
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mavros_msgs::CommandLong cmd_srv;
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std::vector<std::string> m_sMySubscriptions;
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std::map<std::string, std::string> m_smTopic_infos;
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mavros_msgs::SetMode m_cmdSetMode;
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ros::ServiceClient mode_client;
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/*Initialize publisher and subscriber, done in the constructor*/
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void Initialize_pub_sub(ros::NodeHandle& n_c);
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mavros_msgs::CommandBool m_cmdBool;
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ros::ServiceClient arm_client;
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std::string current_mode; // SOLO SPECIFIC: just so you don't call the switch to same mode
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mavros_msgs::SetMode m_cmdSetMode;
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ros::ServiceClient mode_client;
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/*Obtain data from ros parameter server*/
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void Rosparameters_get(ros::NodeHandle& n_c_priv);
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/*Initialize publisher and subscriber, done in the constructor*/
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void Initialize_pub_sub(ros::NodeHandle& n_c);
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/*compiles buzz script from the specified .bzz file*/
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std::string Compile_bzz(std::string bzzfile_name);
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std::string current_mode; // SOLO SPECIFIC: just so you don't call the switch to same mode
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/*Flight controller service call*/
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void flight_controller_service_call();
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/*Neighbours pos publisher*/
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void neighbours_pos_publisher();
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/*Obtain data from ros parameter server*/
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void Rosparameters_get(ros::NodeHandle& n_c_priv);
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/*Prepare messages and publish*/
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void prepare_msg_and_publish();
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/*compiles buzz script from the specified .bzz file*/
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std::string Compile_bzz(std::string bzzfile_name);
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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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/*Flight controller service call*/
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void flight_controller_service_call();
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/*Puts neighbours position inside neigbours_pos_map*/
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void neighbours_pos_put(int id, buzz_utility::Pos_struct pos_arr );
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/*Neighbours pos publisher*/
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void neighbours_pos_publisher();
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/*Puts raw neighbours position in lat.,long.,alt. inside raw_neigbours_pos_map*/
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void raw_neighbours_pos_put(int id, buzz_utility::Pos_struct pos_arr );
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/*Prepare messages and publish*/
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void prepare_msg_and_publish();
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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 spherical to cartesian coordinate system callback */
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void gps_rb(GPS nei_pos, double out[]);
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void gps_ned_cur(float &ned_x, float &ned_y, GPS t);
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void gps_ned_home(float &ned_x, float &ned_y);
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void gps_convert_ned(float &ned_x, float &ned_y,
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double gps_t_lon, double gps_t_lat,
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double gps_r_lon, double gps_r_lat);
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/*battery status callback*/
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void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
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/*flight extended status callback*/
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void flight_extended_status_update(const mavros_msgs::ExtendedState::ConstPtr& msg);
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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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/*flight status callback*/
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void flight_status_update(const mavros_msgs::State::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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/*Puts neighbours position inside neigbours_pos_map*/
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void neighbours_pos_put(int id, buzz_utility::Pos_struct pos_arr );
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/*Puts raw neighbours position in lat.,long.,alt. inside raw_neigbours_pos_map*/
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void raw_neighbours_pos_put(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 spherical to cartesian coordinate system callback */
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void gps_rb(GPS nei_pos, double out[]);
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void gps_ned_cur(float &ned_x, float &ned_y, GPS t);
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void gps_ned_home(float &ned_x, float &ned_y);
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void gps_convert_ned(float &ned_x, float &ned_y,
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double gps_t_lon, double gps_t_lat,
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double gps_r_lon, double gps_r_lat);
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/*battery status callback */
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void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
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/*flight extended status callback*/
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void flight_extended_status_update(const mavros_msgs::ExtendedState::ConstPtr& msg);
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/*flight status callback*/
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void flight_status_update(const mavros_msgs::State::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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void users_pos(const rosbuzz::neigh_pos msg);
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/*current relative altitude callback*/
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void current_rel_alt(const std_msgs::Float64::ConstPtr& msg);
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/*current relative altitude callback*/
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void current_rel_alt(const std_msgs::Float64::ConstPtr& msg);
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/*payload callback callback*/
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void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg);
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/*payload callback callback*/
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void payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg);
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/* RC commands service */
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bool rc_callback(mavros_msgs::CommandLong::Request &req, mavros_msgs::CommandLong::Response &res);
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/* RC commands service */
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bool rc_callback(mavros_msgs::CommandLong::Request &req, mavros_msgs::CommandLong::Response &res);
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/*robot id sub callback*/
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void set_robot_id(const std_msgs::UInt8::ConstPtr& msg);
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/*robot id sub callback*/
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void set_robot_id(const std_msgs::UInt8::ConstPtr& msg);
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/*Obstacle distance table callback*/
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void obstacle_dist(const sensor_msgs::LaserScan::ConstPtr& msg);
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/*Obstacle distance table callback*/
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void obstacle_dist(const sensor_msgs::LaserScan::ConstPtr& msg);
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/*Get publisher and subscriber from YML file*/
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void GetSubscriptionParameters(ros::NodeHandle& node_handle);
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/*Get publisher and subscriber from YML file*/
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void GetSubscriptionParameters(ros::NodeHandle& node_handle);
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/*Arm/disarm method that can be called from buzz*/
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void Arm();
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/*Arm/disarm method that can be called from buzz*/
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void Arm();
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/*set mode like guided for solo*/
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void SetMode(std::string mode, int delay_miliseconds);
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/*set mode like guided for solo*/
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void SetMode(std::string mode, int delay_miliseconds);
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/*Robot independent subscribers*/
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void Subscribe(ros::NodeHandle& n_c);
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/*Robot independent subscribers*/
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void Subscribe(ros::NodeHandle& n_c);
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void local_pos_callback(const geometry_msgs::PoseStamped::ConstPtr& pose);
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void local_pos_callback(const geometry_msgs::PoseStamped::ConstPtr& pose);
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//void WaypointMissionSetup(float lat, float lng, float alt);
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//void WaypointMissionSetup(float lat, float lng, float alt);
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void fc_command_setup();
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void fc_command_setup();
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void SetLocalPosition(float x, float y, float z, float yaw);
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void SetLocalPosition(float x, float y, float z, float yaw);
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void SetLocalPositionNonRaw(float x, float y, float z, float yaw);
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void SetLocalPositionNonRaw(float x, float y, float z, float yaw);
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void SetStreamRate(int id, int rate, int on_off);
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void get_number_of_robots();
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void GetRobotId();
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bool GetDequeFull(bool &result);
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bool GetRssi(float &result);
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bool TriggerAPIRssi(const uint8_t short_id);
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bool GetAPIRssi(const uint8_t short_id, float &result);
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bool GetRawPacketLoss(const uint8_t short_id, float &result);
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bool GetFilteredPacketLoss(const uint8_t short_id, float &result);
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void SetStreamRate(int id, int rate, int on_off);
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void get_number_of_robots();
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void GetRobotId();
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};
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}
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@ -1,7 +1,7 @@
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/** @file buzz_utility.cpp
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* @version 1.0
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* @version 1.0
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* @date 27.09.2016
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* @brief Buzz Implementation as a node in ROS for Dji M100 Drone.
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* @brief Buzz Implementation as a node in ROS for Dji M100 Drone.
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* @author Vivek Shankar Varadharajan
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* @copyright 2016 MistLab. All rights reserved.
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*/
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@ -18,11 +18,11 @@ namespace buzz_utility{
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static uint8_t* BO_BUF = 0;
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static buzzdebug_t DBG_INFO = 0;
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static uint32_t MSG_SIZE = 600;//250; // Only 100 bytes of Buzz messages every step
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static uint32_t MAX_MSG_SIZE = 10000; // Maximum Msg size for sending update packets
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static uint32_t MAX_MSG_SIZE = 10000; // Maximum Msg size for sending update packets
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static uint8_t Robot_id = 0;
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static std::vector<uint8_t*> IN_MSG;
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std::map< int, Pos_struct> users_map;
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/****************************************/
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void add_user(int id, double latitude, double longitude, float altitude)
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@ -181,12 +181,12 @@ namespace buzz_utility{
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/* Copy packet into temporary buffer */
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memcpy(pl, payload ,size);
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IN_MSG.push_back(pl);
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}
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void in_message_process(){
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while(!IN_MSG.empty()){
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uint8_t* first_INmsg = (uint8_t*)IN_MSG.front();
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uint8_t* first_INmsg = (uint8_t*)IN_MSG.front();
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/* Go through messages and append them to the FIFO */
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uint16_t* data= u64_cvt_u16((uint64_t)first_INmsg[0]);
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/*Size is at first 2 bytes*/
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@ -220,7 +220,7 @@ namespace buzz_utility{
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/***************************************************/
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uint64_t* obt_out_msg(){
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/* Process out messages */
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buzzvm_process_outmsgs(VM);
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buzzvm_process_outmsgs(VM);
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uint8_t* buff_send =(uint8_t*)malloc(MAX_MSG_SIZE);
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memset(buff_send, 0, MAX_MSG_SIZE);
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/*Taking into consideration the sizes included at the end*/
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@ -361,7 +361,7 @@ namespace buzz_utility{
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buzzvm_gstore(VM);
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buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_disarm", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_gstore(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "uav_takeoff", 1));
|
||||
buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::dummy_closure));
|
||||
buzzvm_gstore(VM);
|
||||
|
|
@ -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);
|
||||
|
|
@ -435,7 +435,7 @@ int create_stig_tables() {
|
|||
buzzobj_t data = buzzvm_stack_at(VM, 1);
|
||||
buzzvm_tput(VM);
|
||||
buzzvm_push(VM, data);
|
||||
|
||||
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "users", 1));
|
||||
buzzvm_gload(VM);
|
||||
buzzvm_pushs(VM, buzzvm_string_register(VM, "dataL", 1));
|
||||
|
|
@ -498,7 +498,7 @@ int create_stig_tables() {
|
|||
ROS_ERROR("[%i] Error registering hooks", Robot_id);
|
||||
return 0;
|
||||
}
|
||||
/* Create vstig tables
|
||||
/* Create vstig tables
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
|
|
@ -507,10 +507,10 @@ int create_stig_tables() {
|
|||
//cout << "ERROR!!!! ---------- " << buzzvm_strerror(VM) << endl;
|
||||
return 0;
|
||||
}*/
|
||||
|
||||
|
||||
/* Save bytecode file name */
|
||||
BO_FNAME = strdup(bo_filename);
|
||||
|
||||
|
||||
// Execute the global part of the script
|
||||
if(buzzvm_execute_script(VM)!= BUZZVM_STATE_DONE){
|
||||
ROS_ERROR("Error executing global part, VM state : %i",VM->state);
|
||||
|
|
@ -527,7 +527,7 @@ int create_stig_tables() {
|
|||
|
||||
return 1;//buzz_update_set(BO_BUF, bdbg_filename, bcode_size);
|
||||
}
|
||||
|
||||
|
||||
/****************************************/
|
||||
/*Sets a new update */
|
||||
/****************************************/
|
||||
|
|
@ -560,7 +560,7 @@ int create_stig_tables() {
|
|||
fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME);
|
||||
return 0;
|
||||
}
|
||||
/* Create vstig tables
|
||||
/* Create vstig tables
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
|
|
@ -569,7 +569,7 @@ int create_stig_tables() {
|
|||
//cout << "ERROR!!!! ---------- " << buzzvm_strerror(VM) << endl;
|
||||
return 0;
|
||||
}*/
|
||||
|
||||
|
||||
// Execute the global part of the script
|
||||
if(buzzvm_execute_script(VM)!= BUZZVM_STATE_DONE){
|
||||
ROS_ERROR("Error executing global part, VM state : %i",VM->state);
|
||||
|
|
@ -616,7 +616,7 @@ int create_stig_tables() {
|
|||
fprintf(stdout, "%s: Error registering hooks\n\n", BO_FNAME);
|
||||
return 0;
|
||||
}
|
||||
/* Create vstig tables
|
||||
/* Create vstig tables
|
||||
if(create_stig_tables() != BUZZVM_STATE_READY) {
|
||||
buzzvm_destroy(&VM);
|
||||
buzzdebug_destroy(&DBG_INFO);
|
||||
|
|
@ -708,12 +708,12 @@ int create_stig_tables() {
|
|||
buzz_error_info());
|
||||
buzzvm_dump(VM);
|
||||
}
|
||||
|
||||
|
||||
/*Print swarm*/
|
||||
//buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
|
||||
//int SwarmSize = buzzdict_size(VM->swarmmembers)+1;
|
||||
//fprintf(stderr, "Real Swarm Size: %i\n",SwarmSize);
|
||||
|
||||
|
||||
|
||||
/* Check swarm state -- Not crashing thanks to test added in check_swarm_members */
|
||||
//int status = 1;
|
||||
|
|
@ -771,7 +771,7 @@ int create_stig_tables() {
|
|||
buzz_error_info());
|
||||
fprintf(stdout, "step test VM state %i\n",a);
|
||||
}
|
||||
|
||||
|
||||
return a == BUZZVM_STATE_READY;
|
||||
}
|
||||
|
||||
|
|
@ -785,5 +785,3 @@ int create_stig_tables() {
|
|||
buzzvm_gstore(VM);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
/** @file buzzuav_closures.cpp
|
||||
* @version 1.0
|
||||
* @version 1.0
|
||||
* @date 27.09.2016
|
||||
* @brief Buzz Implementation as a node in ROS for Dji M100 Drone.
|
||||
* @brief Buzz Implementation as a node in ROS for Dji M100 Drone.
|
||||
* @author Vivek Shankar Varadharajan
|
||||
* @copyright 2016 MistLab. All rights reserved.
|
||||
*/
|
||||
|
|
@ -11,427 +11,432 @@
|
|||
|
||||
namespace buzzuav_closures{
|
||||
|
||||
// TODO: Minimize the required global variables and put them in the header
|
||||
//static const rosbzz_node::roscontroller* roscontroller_ptr;
|
||||
/*forward declaration of ros controller ptr storing function*/
|
||||
//void set_ros_controller_ptr(const rosbzz_node::roscontroller* roscontroller_ptrin);
|
||||
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 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;
|
||||
// TODO: Minimize the required global variables and put them in the header
|
||||
//static const rosbzz_node::roscontroller* roscontroller_ptr;
|
||||
/*forward declaration of ros controller ptr storing function*/
|
||||
//void set_ros_controller_ptr(const rosbzz_node::roscontroller* roscontroller_ptrin);
|
||||
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 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;
|
||||
|
||||
|
||||
std::map< int, buzz_utility::Pos_struct> neighbors_map;
|
||||
std::map< int, buzz_utility::Pos_struct> neighbors_map;
|
||||
|
||||
/****************************************/
|
||||
/****************************************/
|
||||
/****************************************/
|
||||
/****************************************/
|
||||
|
||||
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) {
|
||||
buzzvm_lload(vm, i);
|
||||
buzzobj_t o = buzzvm_stack_at(vm, 1);
|
||||
buzzvm_pop(vm);
|
||||
switch(o->o.type) {
|
||||
case BUZZTYPE_NIL:
|
||||
sprintf(buffer,"%s BUZZ - [nil]", buffer);
|
||||
break;
|
||||
case BUZZTYPE_INT:
|
||||
sprintf(buffer,"%s %d", buffer, o->i.value);
|
||||
//fprintf(stdout, "%d", o->i.value);
|
||||
break;
|
||||
case BUZZTYPE_FLOAT:
|
||||
sprintf(buffer,"%s %f", buffer, o->f.value);
|
||||
break;
|
||||
case BUZZTYPE_TABLE:
|
||||
sprintf(buffer,"%s [table with %d elems]", buffer, (buzzdict_size(o->t.value)));
|
||||
break;
|
||||
case BUZZTYPE_CLOSURE:
|
||||
if(o->c.value.isnative)
|
||||
sprintf(buffer,"%s [n-closure @%d]", buffer, o->c.value.ref);
|
||||
else
|
||||
sprintf(buffer,"%s [c-closure @%d]", buffer, o->c.value.ref);
|
||||
break;
|
||||
case BUZZTYPE_STRING:
|
||||
sprintf(buffer,"%s %s", buffer, o->s.value.str);
|
||||
break;
|
||||
case BUZZTYPE_USERDATA:
|
||||
sprintf(buffer,"%s [userdata @%p]", buffer, o->u.value);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
ROS_INFO(buffer);
|
||||
//fprintf(stdout, "\n");
|
||||
return buzzvm_ret0(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)
|
||||
{
|
||||
buzzvm_lload(vm, i);
|
||||
buzzobj_t o = buzzvm_stack_at(vm, 1);
|
||||
buzzvm_pop(vm);
|
||||
switch(o->o.type)
|
||||
{
|
||||
case BUZZTYPE_NIL:
|
||||
sprintf(buffer,"%s BUZZ - [nil]", buffer);
|
||||
break;
|
||||
case BUZZTYPE_INT:
|
||||
sprintf(buffer,"%s %d", buffer, o->i.value);
|
||||
//fprintf(stdout, "%d", o->i.value);
|
||||
break;
|
||||
case BUZZTYPE_FLOAT:
|
||||
sprintf(buffer,"%s %f", buffer, o->f.value);
|
||||
break;
|
||||
case BUZZTYPE_TABLE:
|
||||
sprintf(buffer,"%s [table with %d elems]", buffer, (buzzdict_size(o->t.value)));
|
||||
break;
|
||||
case BUZZTYPE_CLOSURE:
|
||||
if(o->c.value.isnative)
|
||||
sprintf(buffer,"%s [n-closure @%d]", buffer, o->c.value.ref);
|
||||
else
|
||||
sprintf(buffer,"%s [c-closure @%d]", buffer, o->c.value.ref);
|
||||
break;
|
||||
case BUZZTYPE_STRING:
|
||||
sprintf(buffer,"%s %s", buffer, o->s.value.str);
|
||||
break;
|
||||
case BUZZTYPE_USERDATA:
|
||||
sprintf(buffer,"%s [userdata @%p]", buffer, o->u.value);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
ROS_INFO("%s",buffer);
|
||||
//fprintf(stdout, "\n");
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
|
||||
/*----------------------------------------/
|
||||
/ Compute GPS destination from current position and desired Range and Bearing
|
||||
/----------------------------------------*/
|
||||
/*----------------------------------------/
|
||||
/ Compute GPS destination from current position and desired Range and Bearing
|
||||
/----------------------------------------*/
|
||||
|
||||
void gps_from_rb(double range, double bearing, double out[3]) {
|
||||
double lat = cur_pos[0]*M_PI/180.0;
|
||||
double lon = cur_pos[1]*M_PI/180.0;
|
||||
out[0] = asin(sin(lat) * cos(range/EARTH_RADIUS) + cos(lat) * sin(range/EARTH_RADIUS) * cos(bearing));
|
||||
out[1] = lon + atan2(sin(bearing) * sin(range/EARTH_RADIUS) * cos(lat), cos(range/EARTH_RADIUS) - sin(lat)*sin(out[0]));
|
||||
out[0] = out[0]*180.0/M_PI;
|
||||
out[1] = out[1]*180.0/M_PI;
|
||||
out[2] = height; //constant height.
|
||||
}
|
||||
void gps_from_rb(double range, double bearing, double out[3]) {
|
||||
double lat = cur_pos[0]*M_PI/180.0;
|
||||
double lon = cur_pos[1]*M_PI/180.0;
|
||||
out[0] = asin(sin(lat) * cos(range/EARTH_RADIUS) + cos(lat) * sin(range/EARTH_RADIUS) * cos(bearing));
|
||||
out[1] = lon + atan2(sin(bearing) * sin(range/EARTH_RADIUS) * cos(lat), cos(range/EARTH_RADIUS) - sin(lat)*sin(out[0]));
|
||||
out[0] = out[0]*180.0/M_PI;
|
||||
out[1] = out[1]*180.0/M_PI;
|
||||
out[2] = height; //constant height.
|
||||
}
|
||||
|
||||
void rb_from_gps(double nei[], double out[], double cur[]){
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS;
|
||||
double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
|
||||
out[0] = sqrt(ned_x*ned_x+ned_y*ned_y);
|
||||
out[1] = atan2(ned_y,ned_x);
|
||||
out[2] = 0.0;
|
||||
}
|
||||
void rb_from_gps(double nei[], double out[], double cur[]){
|
||||
double d_lon = nei[1] - cur[1];
|
||||
double d_lat = nei[0] - cur[0];
|
||||
double ned_x = DEG2RAD(d_lat) * EARTH_RADIUS;
|
||||
double ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(nei[0]));
|
||||
out[0] = sqrt(ned_x*ned_x+ned_y*ned_y);
|
||||
out[1] = atan2(ned_y,ned_x);
|
||||
out[2] = 0.0;
|
||||
}
|
||||
|
||||
// Hard coded GPS position in Park Maisonneuve, Montreal, Canada for simulation tests
|
||||
double hcpos1[4] = {45.564489, -73.562537, 45.564140, -73.562336};
|
||||
double hcpos2[4] = {45.564729, -73.562060, 45.564362, -73.562958};
|
||||
double hcpos3[4] = {45.564969, -73.562838, 45.564636, -73.563677};
|
||||
// Hard coded GPS position in Park Maisonneuve, Montreal, Canada for simulation tests
|
||||
double hcpos1[4] = {45.564489, -73.562537, 45.564140, -73.562336};
|
||||
double hcpos2[4] = {45.564729, -73.562060, 45.564362, -73.562958};
|
||||
double hcpos3[4] = {45.564969, -73.562838, 45.564636, -73.563677};
|
||||
|
||||
/*----------------------------------------/
|
||||
/ Buzz closure to move following a 2D vector
|
||||
/----------------------------------------*/
|
||||
int buzzuav_moveto(buzzvm_t vm) {
|
||||
buzzvm_lnum_assert(vm, 2);
|
||||
buzzvm_lload(vm, 1); /* dx */
|
||||
buzzvm_lload(vm, 2); /* dy */
|
||||
//buzzvm_lload(vm, 3); /* Latitude */
|
||||
//buzzvm_type_assert(vm, 3, BUZZTYPE_FLOAT);
|
||||
buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
|
||||
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
|
||||
goto_pos[0]=dx;
|
||||
goto_pos[1]=dy;
|
||||
goto_pos[2]=height;
|
||||
/*double b = atan2(dy,dx); //bearing
|
||||
printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
|
||||
gps_from_rb(d, b, goto_pos);
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;*/
|
||||
/*----------------------------------------/
|
||||
/ Buzz closure to move following a 2D vector
|
||||
/----------------------------------------*/
|
||||
int buzzuav_moveto(buzzvm_t vm)
|
||||
{
|
||||
buzzvm_lnum_assert(vm, 2);
|
||||
buzzvm_lload(vm, 1); /* dx */
|
||||
buzzvm_lload(vm, 2); /* dy */
|
||||
//buzzvm_lload(vm, 3); /* Latitude */
|
||||
//buzzvm_type_assert(vm, 3, BUZZTYPE_FLOAT);
|
||||
buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
|
||||
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;
|
||||
// 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;
|
||||
/*double b = atan2(dy,dx); //bearing
|
||||
printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
|
||||
gps_from_rb(d, b, goto_pos);
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;*/
|
||||
//printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
|
||||
//printf(" Buzz requested Move To: x: %.7f , y: %.7f, z: %.7f \n",goto_pos[0], goto_pos[1], goto_pos[2]);
|
||||
buzz_cmd= COMMAND_MOVETO; // TO DO what should we use
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
//printf(" Buzz requested Move To: x: %.7f , y: %.7f, z: %.7f \n",goto_pos[0], goto_pos[1], goto_pos[2]);
|
||||
buzz_cmd= COMMAND_MOVETO; // TO DO what should we use
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
|
||||
int users_add2localtable(buzzvm_t vm, int id, float range, float bearing) {
|
||||
if(vm->state != BUZZVM_STATE_READY) return vm->state;
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "users", 1));
|
||||
buzzvm_gload(vm);
|
||||
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);
|
||||
buzzobj_t nbr = buzzvm_stack_at(vm, 1);
|
||||
/* Get "data" field */
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "dataL", 1));
|
||||
buzzvm_tget(vm);
|
||||
if(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_NIL) {
|
||||
//ROS_INFO("Empty data, create a new table");
|
||||
buzzvm_pop(vm);
|
||||
buzzvm_push(vm, nbr);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "dataL", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzobj_t data = buzzvm_stack_at(vm, 1);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, data);
|
||||
}
|
||||
/* When we get here, the "data" table is on top of the stack */
|
||||
/* Push user id */
|
||||
buzzvm_pushi(vm, id);
|
||||
/* Create entry table */
|
||||
buzzobj_t entry = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE);
|
||||
/* Insert range */
|
||||
buzzvm_push(vm, entry);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "r", 1));
|
||||
buzzvm_pushf(vm, range);
|
||||
buzzvm_tput(vm);
|
||||
/* Insert longitude */
|
||||
buzzvm_push(vm, entry);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "b", 1));
|
||||
buzzvm_pushf(vm, bearing);
|
||||
buzzvm_tput(vm);
|
||||
/* Save entry into data table */
|
||||
buzzvm_push(vm, entry);
|
||||
buzzvm_tput(vm);
|
||||
//printf("\tBuzz_closure saved new user: %i (%f,%f)\n", id, range, bearing);
|
||||
return vm->state;
|
||||
}
|
||||
int users_add2localtable(buzzvm_t vm, int id, float range, float bearing) {
|
||||
if(vm->state != BUZZVM_STATE_READY) return vm->state;
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "users", 1));
|
||||
buzzvm_gload(vm);
|
||||
buzzvm_type_assert(vm, 1, BUZZTYPE_TABLE);
|
||||
buzzobj_t nbr = buzzvm_stack_at(vm, 1);
|
||||
/* Get "data" field */
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "dataL", 1));
|
||||
buzzvm_tget(vm);
|
||||
if(buzzvm_stack_at(vm, 1)->o.type == BUZZTYPE_NIL) {
|
||||
//ROS_INFO("Empty data, create a new table");
|
||||
buzzvm_pop(vm);
|
||||
buzzvm_push(vm, nbr);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "dataL", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzobj_t data = buzzvm_stack_at(vm, 1);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, data);
|
||||
}
|
||||
/* When we get here, the "data" table is on top of the stack */
|
||||
/* Push user id */
|
||||
buzzvm_pushi(vm, id);
|
||||
/* Create entry table */
|
||||
buzzobj_t entry = buzzheap_newobj(vm->heap, BUZZTYPE_TABLE);
|
||||
/* Insert range */
|
||||
buzzvm_push(vm, entry);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "r", 1));
|
||||
buzzvm_pushf(vm, range);
|
||||
buzzvm_tput(vm);
|
||||
/* Insert longitude */
|
||||
buzzvm_push(vm, entry);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "b", 1));
|
||||
buzzvm_pushf(vm, bearing);
|
||||
buzzvm_tput(vm);
|
||||
/* Save entry into data table */
|
||||
buzzvm_push(vm, entry);
|
||||
buzzvm_tput(vm);
|
||||
//printf("\tBuzz_closure saved new user: %i (%f,%f)\n", id, range, bearing);
|
||||
return vm->state;
|
||||
}
|
||||
|
||||
int buzzuav_adduserRB(buzzvm_t vm) {
|
||||
buzzvm_lnum_assert(vm, 3);
|
||||
buzzvm_lload(vm, 1); /* longitude */
|
||||
buzzvm_lload(vm, 2); /* latitude */
|
||||
buzzvm_lload(vm, 3); /* id */
|
||||
buzzvm_type_assert(vm, 3, BUZZTYPE_INT);
|
||||
buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
|
||||
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
|
||||
double tmp[3];
|
||||
tmp[0] = buzzvm_stack_at(vm, 2)->f.value;
|
||||
tmp[1] = buzzvm_stack_at(vm, 1)->f.value;
|
||||
tmp[2] = 0.0;
|
||||
int uid = buzzvm_stack_at(vm, 3)->i.value;
|
||||
double rb[3];
|
||||
int buzzuav_adduserRB(buzzvm_t vm) {
|
||||
buzzvm_lnum_assert(vm, 3);
|
||||
buzzvm_lload(vm, 1); /* longitude */
|
||||
buzzvm_lload(vm, 2); /* latitude */
|
||||
buzzvm_lload(vm, 3); /* id */
|
||||
buzzvm_type_assert(vm, 3, BUZZTYPE_INT);
|
||||
buzzvm_type_assert(vm, 2, BUZZTYPE_FLOAT);
|
||||
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
|
||||
double tmp[3];
|
||||
tmp[0] = buzzvm_stack_at(vm, 2)->f.value;
|
||||
tmp[1] = buzzvm_stack_at(vm, 1)->f.value;
|
||||
tmp[2] = 0.0;
|
||||
int uid = buzzvm_stack_at(vm, 3)->i.value;
|
||||
double rb[3];
|
||||
|
||||
rb_from_gps(tmp, rb, cur_pos);
|
||||
if(fabs(rb[0])<100.0) {
|
||||
//printf("\tGot new user from bzz stig: %i - %f, %f\n", uid, rb[0], rb[1]);
|
||||
return users_add2localtable(vm, uid, rb[0], rb[1]);
|
||||
} else
|
||||
printf(" ---------- User too far %f\n",rb[0]);
|
||||
rb_from_gps(tmp, rb, cur_pos);
|
||||
if(fabs(rb[0])<100.0) {
|
||||
//printf("\tGot new user from bzz stig: %i - %f, %f\n", uid, rb[0], rb[1]);
|
||||
return users_add2localtable(vm, uid, rb[0], rb[1]);
|
||||
} else
|
||||
printf(" ---------- User too far %f\n",rb[0]);
|
||||
|
||||
return 0;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*----------------------------------------/
|
||||
/ Buzz closure to go directly to a GPS destination from the Mission Planner
|
||||
/----------------------------------------*/
|
||||
int buzzuav_goto(buzzvm_t vm) {
|
||||
rc_goto_pos[2]=height;
|
||||
set_goto(rc_goto_pos);
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;
|
||||
printf(" Buzz requested Go To, to Latitude: %.7f , Longitude: %.7f, Altitude: %.7f \n",goto_pos[0],goto_pos[1],goto_pos[2]);
|
||||
buzz_cmd=COMMAND_GOTO;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
/*----------------------------------------/
|
||||
/ Buzz closure to go directly to a GPS destination from the Mission Planner
|
||||
/----------------------------------------*/
|
||||
int buzzuav_goto(buzzvm_t vm) {
|
||||
rc_goto_pos[2]=height;
|
||||
set_goto(rc_goto_pos);
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;
|
||||
printf(" Buzz requested Go To, to Latitude: %.7f , Longitude: %.7f, Altitude: %.7f \n",goto_pos[0],goto_pos[1],goto_pos[2]);
|
||||
buzz_cmd=COMMAND_GOTO;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
|
||||
/*----------------------------------------/
|
||||
/ Buzz closure to arm/disarm the drone, useful for field tests to ensure all systems are up and running
|
||||
/----------------------------------------*/
|
||||
int buzzuav_arm(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM;
|
||||
printf(" Buzz requested Arm \n");
|
||||
buzz_cmd=COMMAND_ARM;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
int buzzuav_disarm(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM + 1;
|
||||
printf(" Buzz requested Disarm \n");
|
||||
buzz_cmd=COMMAND_DISARM;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
/*----------------------------------------/
|
||||
/ Buzz closure to arm/disarm the drone, useful for field tests to ensure all systems are up and running
|
||||
/----------------------------------------*/
|
||||
int buzzuav_arm(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM;
|
||||
printf(" Buzz requested Arm \n");
|
||||
buzz_cmd=COMMAND_ARM;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
int buzzuav_disarm(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM + 1;
|
||||
printf(" Buzz requested Disarm \n");
|
||||
buzz_cmd=COMMAND_DISARM;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
|
||||
/*---------------------------------------/
|
||||
/ Buss closure for basic UAV commands
|
||||
/---------------------------------------*/
|
||||
int buzzuav_takeoff(buzzvm_t vm) {
|
||||
buzzvm_lnum_assert(vm, 1);
|
||||
buzzvm_lload(vm, 1); /* Altitude */
|
||||
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
|
||||
goto_pos[2] = buzzvm_stack_at(vm, 1) -> f.value;
|
||||
height = goto_pos[2];
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
|
||||
printf(" Buzz requested Take off !!! \n");
|
||||
buzz_cmd = COMMAND_TAKEOFF;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
/*---------------------------------------/
|
||||
/ Buss closure for basic UAV commands
|
||||
/---------------------------------------*/
|
||||
int buzzuav_takeoff(buzzvm_t vm) {
|
||||
buzzvm_lnum_assert(vm, 1);
|
||||
buzzvm_lload(vm, 1); /* Altitude */
|
||||
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
|
||||
goto_pos[2] = buzzvm_stack_at(vm, 1) -> f.value;
|
||||
height = goto_pos[2];
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
|
||||
printf(" Buzz requested Take off !!! \n");
|
||||
buzz_cmd = COMMAND_TAKEOFF;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
|
||||
int buzzuav_land(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_LAND;
|
||||
printf(" Buzz requested Land !!! \n");
|
||||
buzz_cmd = COMMAND_LAND;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
int buzzuav_land(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_LAND;
|
||||
printf(" Buzz requested Land !!! \n");
|
||||
buzz_cmd = COMMAND_LAND;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
|
||||
int buzzuav_gohome(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_RETURN_TO_LAUNCH;
|
||||
printf(" Buzz requested gohome !!! \n");
|
||||
buzz_cmd = COMMAND_GOHOME;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
int buzzuav_gohome(buzzvm_t vm) {
|
||||
cur_cmd=mavros_msgs::CommandCode::NAV_RETURN_TO_LAUNCH;
|
||||
printf(" Buzz requested gohome !!! \n");
|
||||
buzz_cmd = COMMAND_GOHOME;
|
||||
return buzzvm_ret0(vm);
|
||||
}
|
||||
|
||||
|
||||
/*-------------------------------
|
||||
/ Get/Set to transfer variable from Roscontroller to buzzuav
|
||||
/------------------------------------*/
|
||||
double* getgoto() {
|
||||
return goto_pos;
|
||||
}
|
||||
/*-------------------------------
|
||||
/ Get/Set to transfer variable from Roscontroller to buzzuav
|
||||
/------------------------------------*/
|
||||
double* getgoto() {
|
||||
return goto_pos;
|
||||
}
|
||||
|
||||
int getcmd() {
|
||||
return cur_cmd;
|
||||
}
|
||||
int getcmd() {
|
||||
return cur_cmd;
|
||||
}
|
||||
|
||||
void set_goto(double pos[]) {
|
||||
goto_pos[0] = pos[0];
|
||||
goto_pos[1] = pos[1];
|
||||
goto_pos[2] = pos[2];
|
||||
void set_goto(double pos[]) {
|
||||
goto_pos[0] = pos[0];
|
||||
goto_pos[1] = pos[1];
|
||||
goto_pos[2] = pos[2];
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
int bzz_cmd() {
|
||||
int cmd = buzz_cmd;
|
||||
buzz_cmd = 0;
|
||||
return cmd;
|
||||
}
|
||||
int bzz_cmd() {
|
||||
int cmd = buzz_cmd;
|
||||
buzz_cmd = 0;
|
||||
return cmd;
|
||||
}
|
||||
|
||||
void rc_set_goto(double pos[]) {
|
||||
rc_goto_pos[0] = pos[0];
|
||||
rc_goto_pos[1] = pos[1];
|
||||
rc_goto_pos[2] = pos[2];
|
||||
void rc_set_goto(double pos[]) {
|
||||
rc_goto_pos[0] = pos[0];
|
||||
rc_goto_pos[1] = pos[1];
|
||||
rc_goto_pos[2] = pos[2];
|
||||
|
||||
}
|
||||
void rc_call(int rc_cmd_in) {
|
||||
rc_cmd = rc_cmd_in;
|
||||
}
|
||||
}
|
||||
void rc_call(int rc_cmd_in) {
|
||||
rc_cmd = rc_cmd_in;
|
||||
}
|
||||
|
||||
void set_obstacle_dist(float dist[]) {
|
||||
for (int i = 0; i < 5; i++)
|
||||
obst[i] = dist[i];
|
||||
}
|
||||
void set_obstacle_dist(float dist[]) {
|
||||
for (int i = 0; i < 5; i++)
|
||||
obst[i] = dist[i];
|
||||
}
|
||||
|
||||
void set_battery(float voltage,float current,float remaining){
|
||||
batt[0]=voltage;
|
||||
batt[1]=current;
|
||||
batt[2]=remaining;
|
||||
}
|
||||
void set_battery(float voltage,float current,float remaining){
|
||||
batt[0]=voltage;
|
||||
batt[1]=current;
|
||||
batt[2]=remaining;
|
||||
}
|
||||
|
||||
int buzzuav_update_battery(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "battery", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "voltage", 1));
|
||||
buzzvm_pushf(vm, batt[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "current", 1));
|
||||
buzzvm_pushf(vm, batt[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "capacity", 1));
|
||||
buzzvm_pushf(vm, batt[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
return vm->state;
|
||||
}
|
||||
/****************************************/
|
||||
/*current pos update*/
|
||||
/***************************************/
|
||||
void set_currentpos(double latitude, double longitude, double altitude){
|
||||
cur_pos[0]=latitude;
|
||||
cur_pos[1]=longitude;
|
||||
cur_pos[2]=altitude;
|
||||
}
|
||||
/*adds neighbours position*/
|
||||
void neighbour_pos_callback(int id, float range, float bearing, float elevation){
|
||||
buzz_utility::Pos_struct pos_arr;
|
||||
pos_arr.x=range;
|
||||
pos_arr.y=bearing;
|
||||
pos_arr.z=elevation;
|
||||
map< int, buzz_utility::Pos_struct >::iterator it = neighbors_map.find(id);
|
||||
if(it!=neighbors_map.end())
|
||||
neighbors_map.erase(it);
|
||||
neighbors_map.insert(make_pair(id, pos_arr));
|
||||
}
|
||||
int buzzuav_update_battery(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "battery", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "voltage", 1));
|
||||
buzzvm_pushf(vm, batt[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "current", 1));
|
||||
buzzvm_pushf(vm, batt[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "capacity", 1));
|
||||
buzzvm_pushf(vm, batt[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
return vm->state;
|
||||
}
|
||||
/****************************************/
|
||||
/*current pos update*/
|
||||
/***************************************/
|
||||
void set_currentpos(double latitude, double longitude, double altitude){
|
||||
cur_pos[0]=latitude;
|
||||
cur_pos[1]=longitude;
|
||||
cur_pos[2]=altitude;
|
||||
}
|
||||
/*adds neighbours position*/
|
||||
void neighbour_pos_callback(int id, float range, float bearing, float elevation){
|
||||
buzz_utility::Pos_struct pos_arr;
|
||||
pos_arr.x=range;
|
||||
pos_arr.y=bearing;
|
||||
pos_arr.z=elevation;
|
||||
map< int, buzz_utility::Pos_struct >::iterator it = neighbors_map.find(id);
|
||||
if(it!=neighbors_map.end())
|
||||
neighbors_map.erase(it);
|
||||
neighbors_map.insert(make_pair(id, pos_arr));
|
||||
}
|
||||
|
||||
/* update at each step the VM table */
|
||||
void update_neighbors(buzzvm_t vm){
|
||||
/* Reset neighbor information */
|
||||
buzzneighbors_reset(vm);
|
||||
/* Get robot id and update neighbor information */
|
||||
map< int, buzz_utility::Pos_struct >::iterator it;
|
||||
for (it=neighbors_map.begin(); it!=neighbors_map.end(); ++it){
|
||||
buzzneighbors_add(vm,
|
||||
it->first,
|
||||
(it->second).x,
|
||||
(it->second).y,
|
||||
(it->second).z);
|
||||
}
|
||||
}
|
||||
/* update at each step the VM table */
|
||||
void update_neighbors(buzzvm_t vm){
|
||||
/* Reset neighbor information */
|
||||
buzzneighbors_reset(vm);
|
||||
/* Get robot id and update neighbor information */
|
||||
map< int, buzz_utility::Pos_struct >::iterator it;
|
||||
for (it=neighbors_map.begin(); it!=neighbors_map.end(); ++it){
|
||||
buzzneighbors_add(vm,
|
||||
it->first,
|
||||
(it->second).x,
|
||||
(it->second).y,
|
||||
(it->second).z);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************/
|
||||
int buzzuav_update_currentpos(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "position", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "latitude", 1));
|
||||
buzzvm_pushf(vm, cur_pos[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "longitude", 1));
|
||||
buzzvm_pushf(vm, cur_pos[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "altitude", 1));
|
||||
buzzvm_pushf(vm, cur_pos[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
return vm->state;
|
||||
}
|
||||
/****************************************/
|
||||
int buzzuav_update_currentpos(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "position", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "latitude", 1));
|
||||
buzzvm_pushf(vm, cur_pos[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "longitude", 1));
|
||||
buzzvm_pushf(vm, cur_pos[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "altitude", 1));
|
||||
buzzvm_pushf(vm, cur_pos[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
return vm->state;
|
||||
}
|
||||
|
||||
void flight_status_update(uint8_t state){
|
||||
status=state;
|
||||
}
|
||||
void flight_status_update(uint8_t state){
|
||||
status=state;
|
||||
}
|
||||
|
||||
/*----------------------------------------------------
|
||||
/ Create the generic robot table with status, remote controller current comand and destination
|
||||
/ and current position of the robot
|
||||
/ TODO: change global name for robot
|
||||
/------------------------------------------------------*/
|
||||
int buzzuav_update_flight_status(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "flight", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "rc_cmd", 1));
|
||||
buzzvm_pushi(vm, rc_cmd);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
rc_cmd=0;
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "status", 1));
|
||||
buzzvm_pushi(vm, status);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
//also set rc_controllers goto
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "rc_goto", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "latitude", 1));
|
||||
buzzvm_pushf(vm, rc_goto_pos[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "longitude", 1));
|
||||
buzzvm_pushf(vm, rc_goto_pos[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "altitude", 1));
|
||||
buzzvm_pushf(vm, rc_goto_pos[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
return vm->state;
|
||||
}
|
||||
/*----------------------------------------------------
|
||||
/ Create the generic robot table with status, remote controller current comand and destination
|
||||
/ and current position of the robot
|
||||
/ TODO: change global name for robot
|
||||
/------------------------------------------------------*/
|
||||
int buzzuav_update_flight_status(buzzvm_t vm) {
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "flight", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "rc_cmd", 1));
|
||||
buzzvm_pushi(vm, rc_cmd);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
rc_cmd=0;
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "status", 1));
|
||||
buzzvm_pushi(vm, status);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
//also set rc_controllers goto
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "rc_goto", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "latitude", 1));
|
||||
buzzvm_pushf(vm, rc_goto_pos[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "longitude", 1));
|
||||
buzzvm_pushf(vm, rc_goto_pos[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "altitude", 1));
|
||||
buzzvm_pushf(vm, rc_goto_pos[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);
|
||||
return vm->state;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/******************************************************/
|
||||
/*Create an obstacle Buzz table from proximity sensors*/
|
||||
/* Acessing proximity in buzz script
|
||||
proximity[0].angle and proximity[0].value - front
|
||||
"" "" "" - right and back
|
||||
proximity[3].angle and proximity[3].value - left
|
||||
proximity[4].angle = -1 and proximity[4].value -bottom */
|
||||
/******************************************************/
|
||||
/******************************************************/
|
||||
/*Create an obstacle Buzz table from proximity sensors*/
|
||||
/* Acessing proximity in buzz script
|
||||
proximity[0].angle and proximity[0].value - front
|
||||
"" "" "" - right and back
|
||||
proximity[3].angle and proximity[3].value - left
|
||||
proximity[4].angle = -1 and proximity[4].value -bottom */
|
||||
/******************************************************/
|
||||
|
||||
int buzzuav_update_prox(buzzvm_t vm) {
|
||||
int buzzuav_update_prox(buzzvm_t vm) {
|
||||
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "proximity", 1));
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "proximity", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzobj_t tProxTable = buzzvm_stack_at(vm, 1);
|
||||
buzzvm_gstore(vm);
|
||||
|
||||
|
||||
/* Fill into the proximity table */
|
||||
buzzobj_t tProxRead;
|
||||
float angle =0;
|
||||
|
|
@ -441,80 +446,80 @@ namespace buzzuav_closures{
|
|||
tProxRead = buzzvm_stack_at(vm, 1);
|
||||
buzzvm_pop(vm);
|
||||
/* Fill in the read */
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "value", 0));
|
||||
buzzvm_pushf(vm, obst[i+1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "angle", 0));
|
||||
buzzvm_pushf(vm, angle);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "value", 0));
|
||||
buzzvm_pushf(vm, obst[i+1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "angle", 0));
|
||||
buzzvm_pushf(vm, angle);
|
||||
buzzvm_tput(vm);
|
||||
/* Store read table in the proximity table */
|
||||
buzzvm_push(vm, tProxTable);
|
||||
buzzvm_pushi(vm, i);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_tput(vm);
|
||||
angle+=1.5708;
|
||||
buzzvm_pushi(vm, i);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_tput(vm);
|
||||
angle+=1.5708;
|
||||
}
|
||||
/* Create table for bottom read */
|
||||
angle =-1;
|
||||
/* Create table for bottom read */
|
||||
angle =-1;
|
||||
buzzvm_pusht(vm);
|
||||
tProxRead = buzzvm_stack_at(vm, 1);
|
||||
buzzvm_pop(vm);
|
||||
/* Fill in the read */
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "value", 0));
|
||||
buzzvm_pushf(vm, obst[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "angle", 0));
|
||||
buzzvm_pushf(vm, angle);
|
||||
buzzvm_tput(vm);
|
||||
/*Store read table in the proximity table*/
|
||||
buzzvm_push(vm, tProxTable);
|
||||
buzzvm_pushi(vm, 4);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "value", 0));
|
||||
buzzvm_pushf(vm, obst[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "angle", 0));
|
||||
buzzvm_pushf(vm, angle);
|
||||
buzzvm_tput(vm);
|
||||
/*Store read table in the proximity table*/
|
||||
buzzvm_push(vm, tProxTable);
|
||||
buzzvm_pushi(vm, 4);
|
||||
buzzvm_push(vm, tProxRead);
|
||||
buzzvm_tput(vm);
|
||||
|
||||
/*
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "proximity", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "bottom", 1));
|
||||
buzzvm_pushf(vm, obst[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "front", 1));
|
||||
buzzvm_pushf(vm, obst[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "right", 1));
|
||||
buzzvm_pushf(vm, obst[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "back", 1));
|
||||
buzzvm_pushf(vm, obst[3]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "left", 1));
|
||||
buzzvm_pushf(vm, obst[4]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);*/
|
||||
return vm->state;
|
||||
}
|
||||
/*
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "proximity", 1));
|
||||
buzzvm_pusht(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "bottom", 1));
|
||||
buzzvm_pushf(vm, obst[0]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "front", 1));
|
||||
buzzvm_pushf(vm, obst[1]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "right", 1));
|
||||
buzzvm_pushf(vm, obst[2]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "back", 1));
|
||||
buzzvm_pushf(vm, obst[3]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_dup(vm);
|
||||
buzzvm_pushs(vm, buzzvm_string_register(vm, "left", 1));
|
||||
buzzvm_pushf(vm, obst[4]);
|
||||
buzzvm_tput(vm);
|
||||
buzzvm_gstore(vm);*/
|
||||
return vm->state;
|
||||
}
|
||||
|
||||
/**********************************************/
|
||||
/*Dummy closure for use during update testing */
|
||||
/**********************************************/
|
||||
/**********************************************/
|
||||
/*Dummy closure for use during update testing */
|
||||
/**********************************************/
|
||||
|
||||
int dummy_closure(buzzvm_t vm){ return buzzvm_ret0(vm);}
|
||||
int dummy_closure(buzzvm_t vm){ return buzzvm_ret0(vm);}
|
||||
|
||||
/***********************************************/
|
||||
/* Store Ros controller object pointer */
|
||||
/***********************************************/
|
||||
|
||||
//void set_ros_controller_ptr(const rosbzz_node::roscontroller* roscontroller_ptrin){
|
||||
//roscontroller_ptr = roscontroller_ptrin;
|
||||
//}
|
||||
/***********************************************/
|
||||
/* Store Ros controller object pointer */
|
||||
/***********************************************/
|
||||
|
||||
//void set_ros_controller_ptr(const rosbzz_node::roscontroller* roscontroller_ptrin){
|
||||
//roscontroller_ptr = roscontroller_ptrin;
|
||||
//}
|
||||
|
||||
}
|
||||
|
|
|
|||
File diff suppressed because it is too large
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Reference in New Issue