224 lines
6.6 KiB
C++
224 lines
6.6 KiB
C++
#pragma once
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#include <ros/ros.h>
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#include <sensor_msgs/NavSatFix.h>
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#include <std_msgs/UInt8.h>
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#include "mavros_msgs/GlobalPositionTarget.h"
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#include "mavros_msgs/CommandCode.h"
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#include "mavros_msgs/CommandLong.h"
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#include "mavros_msgs/CommandBool.h"
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#include "mavros_msgs/ExtendedState.h"
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#include "mavros_msgs/SetMode.h"
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#include "mavros_msgs/State.h"
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#include "mavros_msgs/BatteryStatus.h"
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#include "mavros_msgs/Mavlink.h"
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#include "mavros_msgs/PositionTarget.h"
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#include "sensor_msgs/NavSatStatus.h"
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#include "mavros_msgs/WaypointPush.h"
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#include "mavros_msgs/Waypoint.h"
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#include "mavros_msgs/PositionTarget.h"
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#include "mavros_msgs/StreamRate.h"
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#include "mavros_msgs/ParamGet.h"
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#include "geometry_msgs/PoseStamped.h"
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#include "std_msgs/Float64.h"
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#include <sensor_msgs/LaserScan.h>
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#include <rosbuzz/neigh_pos.h>
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#include <sstream>
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#include <buzz/buzzasm.h>
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#include "buzz_utility.h"
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#include "uav_utility.h"
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <signal.h>
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#include <ostream>
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#include <map>
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#include "buzzuav_closures.h"
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#define UPDATER_MESSAGE_CONSTANT 987654321
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#define XBEE_MESSAGE_CONSTANT 586782343
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#define XBEE_STOP_TRANSMISSION 4355356352
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#define TIMEOUT 60
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using namespace std;
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namespace rosbzz_node{
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class roscontroller{
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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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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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// WGS84 constants
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double equatorial_radius = 6378137.0;
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double flattening = 1.0/298.257223563;
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double excentrity2 = 2*flattening - flattening*flattening;
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// default reference position
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double DEFAULT_REFERENCE_LATITUDE = 45.457817;
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double DEFAULT_REFERENCE_LONGITUDE = -73.636075;
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double cur_pos[3];
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double home[3];
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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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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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/*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::CommandBool m_cmdBool;
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ros::ServiceClient arm_client;
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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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std::string current_mode; // SOLO SPECIFIC: just so you don't call the switch to same mode
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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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/*compiles buzz script from the specified .bzz file*/
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void Compile_bzz();
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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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/*Prepare messages and publish*/
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void prepare_msg_and_publish();
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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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/*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 cvt_rangebearing_coordinates(double neighbours_pos_payload [], double out[], double pos[]);
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void cvt_ned_coordinates(double neighbours_pos_payload [], double out[], double pos[]);
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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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/*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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/*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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/*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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/*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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//void WaypointMissionSetup(float lat, float lng, float alt);
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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 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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};
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}
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