From a1286256197e68bc20cfecbdbdb7f7f8153c6018 Mon Sep 17 00:00:00 2001
From: Vivek Shankar Varadharajan <vivek-shankar.varadharajan@polymtl.ca>
Date: Sun, 9 Oct 2016 19:58:50 -0400
Subject: [PATCH] launch file commit

---
 .gitignore            |   0
 CMakeLists.txt        |   3 +-
 launch/rosbuzz.launch |  11 ++++
 package.xml           |   4 +-
 src/buzz_utility.cpp  |   4 +-
 src/buzz_utility.h    |   2 +-
 src/out.basm          | 150 ------------------------------------------
 src/out.bdbg          | Bin 6120 -> 0 bytes
 src/out.bo            | Bin 525 -> 0 bytes
 src/rosbuzz.cpp       |  57 +++++++++++-----
 src/test.bzz          |  13 +---
 11 files changed, 59 insertions(+), 185 deletions(-)
 create mode 100644 .gitignore
 create mode 100644 launch/rosbuzz.launch
 delete mode 100644 src/out.basm
 delete mode 100644 src/out.bdbg
 delete mode 100644 src/out.bo

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..e69de29
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 247e8a5..84f05b5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,4 +37,5 @@ install(TARGETS rosbuzz_node
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-
+find_package(catkin REQUIRED COMPONENTS roslaunch)
+roslaunch_add_file_check(launch)
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
new file mode 100644
index 0000000..d79ce4d
--- /dev/null
+++ b/launch/rosbuzz.launch
@@ -0,0 +1,11 @@
+<!-- Launch file for ROSBuzz -->
+
+<launch>
+	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
+		<param name="bzzfile_name" value="../catkin_ws/src/rosbuzz/src/test.bzz" />
+                <param name="rcclient" value="true" /> 
+		<param name="rcservice_name" value="rc_cmd" />
+		<param name="fcclient_name" value="fc_cmd" />
+	</node>
+     		<param name="robot_id" value="1"/>
+</launch>
diff --git a/package.xml b/package.xml
index 3f9b78d..2a425c7 100644
--- a/package.xml
+++ b/package.xml
@@ -40,8 +40,8 @@
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
-  <run_depend>message_runtime</run_depend>
+  <!-- <build_depend>message_generation</build_depend> -->
+  <!-- <run_depend>message_runtime</run_depend> -->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index f521feb..61697d7 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -199,13 +199,13 @@ static int buzz_register_hooks() {
 /****************************************/
 
 int buzz_script_set(const char* bo_filename,
-                    const char* bdbg_filename) {
+                    const char* bdbg_filename, int robot_id) {
    /* Get hostname */
    char hstnm[30];
    gethostname(hstnm, 30);
    /* Make numeric id from hostname */
    /* NOTE: here we assume that the hostname is in the format Knn */
-   int id = strtol(hstnm + 1, NULL, 10);
+   int id = robot_id; //strtol(hstnm + 1, NULL, 10);
    cout << " Robot ID" << id<< endl;
    /* Reset the Buzz VM */
    if(VM) buzzvm_destroy(&VM);
diff --git a/src/buzz_utility.h b/src/buzz_utility.h
index 2bd0102..256f7d3 100644
--- a/src/buzz_utility.h
+++ b/src/buzz_utility.h
@@ -22,7 +22,7 @@ void in_msg_process(uint64_t* payload);
 uint64_t* out_msg_process();
 
 int buzz_script_set(const char* bo_filename,
-                           const char* bdbg_filename);
+                           const char* bdbg_filename, int robot_id);
 void buzz_script_step();
 
 void buzz_script_destroy();
diff --git a/src/out.basm b/src/out.basm
deleted file mode 100644
index 4cb2833..0000000
--- a/src/out.basm
+++ /dev/null
@@ -1,150 +0,0 @@
-!24
-'init
-'i
-'s
-'swarm
-'create
-'join
-'step
-'neighbors
-'foreach
-'print
-'robot 
-': 
-'distance  = 
-'distance
-', 
-'azimuth   = 
-'azimuth
-'elevation = 
-'elevation
-'exec
-'uav_takeoff
-'uav_goto
-'reset
-'destroy
-
-	pushs 0
-	pushcn @__label_1
-	gstore
-	pushs 6
-	pushcn @__label_2
-	gstore
-	pushs 22
-	pushcn @__label_8
-	gstore
-	pushs 23
-	pushcn @__label_9
-	gstore
-	nop
-
-@__label_0
-
-@__exitpoint
-	done
-
-@__label_1
-	pushs 1	|3,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 0	|3,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gstore	|3,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 2	|4,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 3	|4,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|4,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 4	|4,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|4,16,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 10	|4,17,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 1	|4,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|4,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gstore	|4,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 2	|5,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|5,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 5	|5,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|5,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 0	|5,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|5,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	ret0	|7,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-
-@__label_2
-	pushs 7	|12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 8	|12,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|12,17,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushl @__label_3	|13,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 1	|17,42,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|17,42,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 1	|18,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|18,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 1	|18,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	eq	|18,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	jumpz @__label_4	|18,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 2	|19,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|19,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 19	|19,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|19,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushl @__label_6	|19,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 1	|19,34,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|19,34,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 1	|20,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 0	|20,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gstore	|20,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	jump @__label_5	|22,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-@__label_4	|22,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 2	|23,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|23,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 19	|23,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|23,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushl @__label_7	|23,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 1	|23,51,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|23,51,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 1	|24,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 1	|24,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gstore	|24,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-@__label_5	|25,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	ret0	|35,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-
-@__label_3
-	pushs 9	|14,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|14,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 10	|14,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	lload 1	|14,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 11	|14,25,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 12	|15,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	lload 2	|15,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 13	|15,29,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|15,37,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 14	|15,39,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 15	|16,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	lload 2	|16,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 16	|16,29,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|16,36,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 14	|16,38,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 17	|17,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	lload 2	|17,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushs 18	|17,29,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	tget	|17,38,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 11	|17,40,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|17,40,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	ret0	|17,41,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-
-@__label_6
-	pushs 20	|19,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|19,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 0	|19,32,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|19,32,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	ret0	|19,33,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-
-@__label_7
-	pushs 21	|23,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	gload	|23,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushf 1.1234	|23,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushf 2.2345	|23,35,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushf 3.3456	|23,42,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	pushi 3	|23,49,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	callc	|23,49,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-	ret0	|23,50,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-
-@__label_8
-	ret0	|39,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
-
-@__label_9
-	ret0	|43,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
diff --git a/src/out.bdbg b/src/out.bdbg
deleted file mode 100644
index 53ec6f761cd3d2537849cd01e36c9b394169e332..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6120
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diff --git a/src/out.bo b/src/out.bo
deleted file mode 100644
index 8a95520bdb92df3610cef8bc3ed517d8cf6f2303..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 525
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diff --git a/src/rosbuzz.cpp b/src/rosbuzz.cpp
index 2be3aa9..1877067 100644
--- a/src/rosbuzz.cpp
+++ b/src/rosbuzz.cpp
@@ -30,16 +30,15 @@ using namespace std;
 
 
 /**
- * This program implements Buzz node in ros using mavros_msgs, Developed for Dji M100.
+ * This program implements Buzz node in ros using mavros_msgs.
  */
 
-
-
 static int done = 0;
 static double cur_pos[3];
 static uint64_t payload;
 static std::map< int,  Pos_struct> neighbours_pos_map;
 static int timer_step=0;
+static int robot_id=0;
 
 /*Refresh neighbours Position for every ten step*/
 void maintain_pos(int tim_step){
@@ -188,19 +187,38 @@ static void ctrlc_handler(int sig) {
 int main(int argc, char **argv)
 {
 
-   /*Compile the buzz code .bzz to .bo*/
-   system("rm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
-   system("bzzparse ../catkin_ws/src/rosbuzz/src/test.bzz ../catkin_ws/src/rosbuzz/src/out.basm");
-   system("bzzasm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
-  
+  ros::ServiceServer service;
   /*initiate rosBuzz*/
   ros::init(argc, argv, "rosBuzz"); 
   ROS_INFO("Buzz_node");
-
+ 
   /*Create node Handler*/
   ros::NodeHandle n_c;
+  std::string bzzfile_name, fcclient_name, rcservice_name; //, rcclient;
+  bool rcclient;
+  /*Obtain .bzz file name from parameter server*/
+  if(ros::param::get("/rosbuzz_node/bzzfile_name", bzzfile_name));
+  else {ROS_ERROR("Provide a .bzz file to run in Launch file"); system("rosnode kill rosbuzz_node");}  
+  
+  /*Obtain rc service option from parameter server*/
+  if(ros::param::get("/rosbuzz_node/rcclient", rcclient)){
+     if(rcclient==true){
+    	/*Service*/
+    	if(ros::param::get("/rosbuzz_node/rcservice_name", rcservice_name)){
+        service = n_c.advertiseService(rcservice_name, rc_callback);
+    	ROS_INFO("Ready to receive Mav Commands from RC client");
+        }
+        else{ROS_ERROR("Provide a name topic name for rc service in Launch file"); system("rosnode kill rosbuzz_node");}
+      }
+     else if(rcclient==false){ROS_INFO("RC service is disabled");}
+  }
+  else{ROS_ERROR("Provide a rc client option: yes or no in Launch file"); system("rosnode kill rosbuzz_node");} 
+  /*Obtain fc client name from parameter server*/
+  if(ros::param::get("/rosbuzz_node/fcclient_name", fcclient_name));
+  else {ROS_ERROR("Provide a fc client name in Launch file"); system("rosnode kill rosbuzz_node");}  
+  /*Obtain robot_id from parameter server*/
+  ros::param::get("/rosbuzz_node/robot_id", robot_id);
 
- 
   /*subscribers*/
   ros::Subscriber current_position_sub = n_c.subscribe("current_pos", 1000, current_pos);
 
@@ -213,16 +231,20 @@ int main(int argc, char **argv)
   ros::Publisher payload_pub = n_c.advertise<mavros_msgs::Mavlink>("outMavlink", 1000);
 
   /* Clients*/
-  ros::ServiceClient mav_client = n_c.serviceClient<mavros_msgs::CommandInt>("djicmd");
+  ros::ServiceClient mav_client = n_c.serviceClient<mavros_msgs::CommandInt>(fcclient_name);
+  cout<< " rc client name"<<rcservice_name;
   
-  /*Services*/
-  ros::ServiceServer service = n_c.advertiseService("djicmd_rc", rc_callback);
-  ROS_INFO("Ready to receive Mav Commands from dji RC client");
   
   /*loop rate of ros*/
   ros::Rate loop_rate(1);
 
-   
+   /*Compile the buzz code .bzz to .bo*/
+   stringstream bzzfile_in_compile;
+   bzzfile_in_compile << "bzzparse "<<bzzfile_name<<" ../catkin_ws/src/rosbuzz/src/out.basm";
+   //system("rm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
+   system(bzzfile_in_compile.str().c_str());
+   system("bzzasm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
+
    /* The bytecode filename */
    char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1];
    /* The debugging information file name */
@@ -233,12 +255,12 @@ int main(int argc, char **argv)
 
    
    /* Set the Buzz bytecode */
-   if(buzz_script_set(bcfname, dbgfname)) {
+   if(buzz_script_set(bcfname, dbgfname,robot_id)) {
    fprintf(stdout, "Bytecode file found and set\n");
 
   /*Commands for dji flight controller*/
   mavros_msgs::CommandInt cmd_srv;
-
+  
   int count = 0;
   while (ros::ok() && !done && !buzz_script_done())
   {
@@ -255,7 +277,6 @@ int main(int argc, char **argv)
     cmd_srv.request.param1 = goto_pos[0];
     cmd_srv.request.param2 = goto_pos[1];
     cmd_srv.request.param3 = goto_pos[2];
-    
     cmd_srv.request.command =  getcmd();
     /* diji client call*/
     if (mav_client.call(cmd_srv)){ ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
diff --git a/src/test.bzz b/src/test.bzz
index e481c0d..cf807b2 100644
--- a/src/test.bzz
+++ b/src/test.bzz
@@ -1,6 +1,6 @@
 # Executed once at init time.
 function init() {
-i=0
+i=1
 s = swarm.create(10)
 s.join()
 
@@ -8,6 +8,7 @@ s.join()
  
 # Executed at each time step.
 function step() {
+
 # print all the neighbours position
 neighbors.foreach(
   function(rid, data) {
@@ -17,20 +18,10 @@ neighbors.foreach(
         "elevation = ", data.elevation) })
 if(i==1){
 s.exec(function() {uav_takeoff()})
-i=0
 }
 else{
 s.exec(function() {uav_goto(1.1234,2.2345,3.3456)})
-i=1
 }
-#if(i==5){
-#s.leave()
-#i=0
-#}
-#else{
-#i=1
-#}
-#i = i + 1
 
 }