ROSBuzz_MISTLab/include/rosbuzz/buzz_utility.h

111 lines
2.2 KiB
C++

#pragma once
#include <stdio.h>
#include <rosbuzz/buzz_utility.h>
#include <rosbuzz/buzzuav_closures.h>
#include <rosbuzz/buzz_update.h>
#include <buzz/buzzdebug.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <iostream>
#include <stdint.h>
#include <map>
using namespace std;
namespace buzz_utility
{
struct pos_struct
{
double x, y, z;
pos_struct(double x, double y, double z) : x(x), y(y), z(z){};
pos_struct()
{
}
};
typedef struct pos_struct Pos_struct;
struct rb_struct
{
double r, b, latitude, longitude, altitude;
rb_struct(double la, double lo, double al, double r, double b)
: latitude(la), longitude(lo), altitude(al), r(r), b(b){};
rb_struct()
{
}
};
typedef struct rb_struct RB_struct;
struct neiStatus
{
uint gps_strenght = 0;
uint batt_lvl = 0;
uint xbee = 0;
uint flight_status = 0;
};
typedef struct neiStatus neighbors_status;
struct neitime
{
uint64_t nei_hardware_time;
uint64_t nei_logical_time;
uint64_t node_hardware_time;
uint64_t node_logical_time;
double nei_rate;
double relative_rate;
int age;
neitime(uint64_t nht, uint64_t nlt, uint64_t mht, uint64_t mlt, double nr, double mr)
: nei_hardware_time(nht)
, nei_logical_time(nlt)
, node_hardware_time(mht)
, node_logical_time(mlt)
, nei_rate(nr)
, relative_rate(mr){};
neitime()
{
}
};
typedef struct neitime neighbor_time;
uint16_t* u64_cvt_u16(uint64_t u64);
int buzz_listen(const char* type, int msg_size);
int make_table(buzzobj_t* t);
int buzzusers_reset();
int create_stig_tables();
void in_msg_append(uint64_t* payload);
uint64_t* obt_out_msg();
void update_sensors();
int buzz_script_set(const char* bo_filename, const char* bdbg_filename, int robot_id);
int buzz_update_set(uint8_t* UP_BO_BUF, const char* bdbg_filename, size_t bcode_size);
int buzz_update_init_test(uint8_t* UP_BO_BUF, const char* bdbg_filename, size_t bcode_size);
void buzz_script_step();
void buzz_script_destroy();
int buzz_script_done();
int update_step_test();
int get_robotid();
int get_swarmsize();
buzzvm_t get_vm();
void set_robot_var(int ROBOTS);
void set_ca_on_var(int CA_ON);
int get_inmsg_size();
std::vector<uint8_t*> get_inmsg_vector();
std::string get_bvmstate();
}