ROSBuzz_MISTLab/include/buzzuav_closures.h

188 lines
3.8 KiB
C++

#pragma once
#include <buzz/buzzvm.h>
#include <stdio.h>
#include "mavros_msgs/CommandCode.h"
#include "mavros_msgs/Mavlink.h"
#include "ros/ros.h"
#include "buzz_utility.h"
#include "rosbuzz/mavrosCC.h"
#define EARTH_RADIUS (double)6371000.0
#define DEG2RAD(DEG) (double)((DEG) * ((M_PI) / (180.0)))
#define RAD2DEG(RAD) (double)((RAD) * ((180.0) / (M_PI)))
namespace buzzuav_closures
{
/*
* prextern int() function in Buzz
* This function is used to print data from buzz
* The command to use in Buzz is buzzros_print takes any available datatype in Buzz
*/
int buzzros_print(buzzvm_t vm);
void setWPlist(std::string path);
/*
* closure to move following a vector
*/
int buzzuav_moveto(buzzvm_t vm);
/*
* closure to store a new GPS goal
*/
int buzzuav_storegoal(buzzvm_t vm);
/*
* closure to control the gimbal
*/
int buzzuav_setgimbal(buzzvm_t vm);
/*
* parse a csv list of waypoints
*/
void parse_gpslist();
/*
* closure to export a 2D map
*/
int buzz_exportmap(buzzvm_t vm);
/*
* closure to take a picture
*/
int buzzuav_takepicture(buzzvm_t vm);
/*
* Returns the current command from local variable
*/
int getcmd();
/*
* update GPS goal value
*/
void set_gpsgoal(double goal[3]);
/*
* Sets goto position from rc client
*/
void rc_set_goto(int id, double latitude, double longitude, double altitude);
/*
*Sets gimbal orientation from rc client
*/
void rc_set_gimbal(int id, float yaw, float roll, float pitch, float t);
/*
* sets rc requested command
*/
void rc_call(int rc_cmd);
/*
* sets the battery state
*/
void set_battery(float voltage, float current, float remaining);
/*
* sets the xbee network status
*/
void set_deque_full(bool state);
void set_rssi(float value);
void set_raw_packet_loss(float value);
void set_filtered_packet_loss(float value);
// void set_api_rssi(float value);
/*
* sets current position
*/
void set_currentNEDpos(double x, double y);
void set_currentpos(double latitude, double longitude, float altitude, float yaw);
/*
* returns the current go to position
*/
double* getgoto();
/*
* returns the current grid
*/
std::map<int, std::map<int,int>> getgrid();
/*
* returns the gimbal commands
*/
float* getgimbal();
/*
*updates flight status
*/
void flight_status_update(uint8_t state);
/*
*Update neighbors table
*/
void neighbour_pos_callback(int id, float range, float bearing, float elevation);
/*
* update neighbors from in msgs
*/
void update_neighbors(buzzvm_t vm);
/*
*Clear neighbours struct
*/
void clear_neighbours_pos();
/*
* closure to add a neighbor status
*/
int buzzuav_addNeiStatus(buzzvm_t vm);
/*
* returns the current array of neighbors status
*/
mavros_msgs::Mavlink get_status();
/*
*Flight status
*/
void set_obstacle_dist(float dist[]);
/*
* Commands the UAV to takeoff
*/
int buzzuav_takeoff(buzzvm_t vm);
/*
* Arm command from Buzz
*/
int buzzuav_arm(buzzvm_t vm);
/*
* Disarm from buzz
*/
int buzzuav_disarm(buzzvm_t vm);
/* Commands the UAV to land
*/
int buzzuav_land(buzzvm_t vm);
/*
* Command the UAV to go to home location
*/
int buzzuav_gohome(buzzvm_t vm);
/*
* Updates battery information in Buzz
*/
int buzzuav_update_battery(buzzvm_t vm);
/*
* Updates xbee_status information in Buzz
*/
int buzzuav_update_xbee_status(buzzvm_t vm);
/*
* Updates current position in Buzz
*/
int buzzuav_update_currentpos(buzzvm_t vm);
/*
* add new target in the BVM
*/
int buzzuav_addtargetRB(buzzvm_t vm);
/*
* Updates flight status and rc command in Buzz, put it in a tabel to acess it
* use flight.status for flight status
* use flight.rc_cmd for current rc cmd
*/
int buzzuav_update_flight_status(buzzvm_t vm);
/*
* Updates IR information in Buzz
* Proximity and ground sensors to do !!!!
*/
int buzzuav_update_prox(buzzvm_t vm);
/*
* returns the current FC command
*/
int bzz_cmd();
int dummy_closure(buzzvm_t vm);
}