111 lines
2.6 KiB
C++
111 lines
2.6 KiB
C++
#pragma once
|
|
//#ifndef BUZZUAV_CLOSURES_H
|
|
//#define BUZZUAV_CLOSURES_H
|
|
#include <buzz/buzzvm.h>
|
|
#include <stdio.h>
|
|
#include "uav_utility.h"
|
|
#include "mavros_msgs/CommandCode.h"
|
|
#include "ros/ros.h"
|
|
#include "buzz_utility.h"
|
|
//#include "roscontroller.h"
|
|
|
|
#define EARTH_RADIUS (double) 6371000.0
|
|
#define DEG2RAD(DEG) ((DEG)*((M_PI)/(180.0)))
|
|
|
|
namespace buzzuav_closures{
|
|
typedef enum {
|
|
COMMAND_NIL = 0, // Dummy command
|
|
COMMAND_TAKEOFF, // Take off
|
|
COMMAND_LAND,
|
|
COMMAND_GOHOME,
|
|
COMMAND_ARM,
|
|
COMMAND_DISARM,
|
|
COMMAND_GOTO,
|
|
COMMAND_MOVETO,
|
|
} Custom_CommandCode;
|
|
|
|
/*
|
|
* 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);
|
|
|
|
/*
|
|
* buzzuav_goto(latitude,longitude,altitude) function in Buzz
|
|
* commands the UAV to go to a position supplied
|
|
*/
|
|
int buzzuav_moveto(buzzvm_t vm);
|
|
int buzzuav_goto(buzzvm_t vm);
|
|
/* Returns the current command from local variable*/
|
|
int getcmd();
|
|
/*Sets goto position */
|
|
void set_goto(double pos[]);
|
|
/*Sets goto position from rc client*/
|
|
void rc_set_goto(double pos[]);
|
|
/*sets rc requested command */
|
|
void rc_call(int rc_cmd);
|
|
/* sets the battery state */
|
|
void set_battery(float voltage,float current,float remaining);
|
|
/* sets current position */
|
|
void set_currentpos(double latitude, double longitude, double altitude);
|
|
/*retuns the current go to position */
|
|
double* getgoto();
|
|
/* 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);
|
|
void update_neighbors(buzzvm_t vm);
|
|
/*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 current position in Buzz
|
|
*/
|
|
int buzzuav_update_currentpos(buzzvm_t vm);
|
|
int buzzuav_adduserRB(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);
|
|
|
|
int bzz_cmd();
|
|
|
|
|
|
int dummy_closure(buzzvm_t vm);
|
|
|
|
//#endif
|
|
}
|