219 lines
4.6 KiB
C++
219 lines
4.6 KiB
C++
#pragma once
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#include <buzz/buzzvm.h>
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#include <stdio.h>
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#include "mavros_msgs/CommandCode.h"
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#include "mavros_msgs/Mavlink.h"
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#include "ros/ros.h"
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#include <rosbuzz/buzz_utility.h>
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#include <rosbuzz/mavrosCC.h>
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#define EARTH_RADIUS (double)6371000.0
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#define DEG2RAD(DEG) (double)((DEG) * ((M_PI) / (180.0)))
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#define RAD2DEG(RAD) (double)((RAD) * ((180.0) / (M_PI)))
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namespace buzzuav_closures
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{
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struct bounding_box_struct
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{
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std::string obj_class;
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double probability;
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int64_t xmin;
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int64_t ymin;
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int64_t xmax;
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int64_t ymax;
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bounding_box_struct(std::string c, double prob, int64_t xmi, int64_t ymi, int64_t xma, int64_t yma)
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: obj_class(c), probability(prob), xmin(xmi), ymin(ymi), xmax(xma), ymax(yma){};
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bounding_box_struct()
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{
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}
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};
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typedef struct bounding_box_struct bounding_box;
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/*
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* prextern int() function in Buzz
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* This function is used to print data from buzz
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* The command to use in Buzz is buzzros_print takes any available datatype in Buzz
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*/
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int buzzros_print(buzzvm_t vm);
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void setWPlist(std::string file);
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void setVorlog(std::string path);
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void check_targets_sim(double lat, double lon, double* res);
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/*
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* closure to move following a vector
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*/
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int buzzuav_moveto(buzzvm_t vm);
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/*
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* closure to store a new GPS goal
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*/
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int buzzuav_storegoal(buzzvm_t vm);
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/*
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* closure to control the gimbal
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*/
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int buzzuav_setgimbal(buzzvm_t vm);
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/*
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* parse a csv list of waypoints
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*/
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void parse_gpslist();
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/*
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* closure to export a 2D map
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*/
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int buzz_exportmap(buzzvm_t vm);
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/*
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* closure to take a picture
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*/
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int buzzuav_takepicture(buzzvm_t vm);
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/*
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* closure to reset RC input
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*/
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int buzzuav_resetrc(buzzvm_t vm);
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/*
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* Returns the current command from local variable
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*/
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int getcmd();
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/*
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* update GPS goal value
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*/
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void set_gpsgoal(double goal[3]);
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/*
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* Sets goto position from rc client
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*/
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void rc_set_goto(int id, double latitude, double longitude, double altitude);
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/*
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*Sets gimbal orientation from rc client
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*/
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void rc_set_gimbal(int id, float yaw, float roll, float pitch, float t);
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/*
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* sets rc requested command
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*/
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void rc_call(int rc_cmd);
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/*
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* sets the battery state
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*/
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void set_battery(float voltage, float current, float remaining);
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/*
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* Update yolo boxes into buzz
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*/
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int buzzuav_update_yolo_boxes(buzzvm_t vm);
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/*
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*Stores the received bounding boxes
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*/
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void store_bounding_boxes(std::vector<bounding_box> bbox);
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/*
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* sets the xbee network status
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*/
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void set_deque_full(bool state);
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void set_rssi(float value);
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void set_raw_packet_loss(float value);
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void set_filtered_packet_loss(float value);
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// void set_api_rssi(float value);
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/*
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* sets current position
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*/
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void set_currentNEDpos(double x, double y);
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void set_currentpos(double latitude, double longitude, float altitude, float yaw);
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/*
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* returns the current go to position
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*/
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double* getgoto();
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/*
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* returns the current grid
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*/
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std::map<int, std::map<int, int>> getgrid();
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int voronoi_center(buzzvm_t vm);
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/*
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* returns the gimbal commands
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*/
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float* getgimbal();
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/*
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*updates flight status
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*/
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void flight_status_update(uint8_t state);
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/*
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*Update neighbors table
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*/
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void neighbour_pos_callback(int id, float range, float bearing, float elevation);
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/*
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* update neighbors from in msgs
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*/
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void update_neighbors(buzzvm_t vm);
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/*
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*Clear neighbours struct
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*/
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void clear_neighbours_pos();
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/*
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* closure to add a neighbor status
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*/
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int buzzuav_addNeiStatus(buzzvm_t vm);
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/*
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* returns the current array of neighbors status
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*/
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mavros_msgs::Mavlink get_status();
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/*
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*Flight status
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*/
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void set_obstacle_dist(float dist[]);
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/*
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* Commands the UAV to takeoff
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*/
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int buzzuav_takeoff(buzzvm_t vm);
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/*
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* Arm command from Buzz
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*/
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int buzzuav_arm(buzzvm_t vm);
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/*
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* Disarm from buzz
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*/
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int buzzuav_disarm(buzzvm_t vm);
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/* Commands the UAV to land
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*/
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int buzzuav_land(buzzvm_t vm);
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/*
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* Command the UAV to go to home location
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*/
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int buzzuav_gohome(buzzvm_t vm);
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int buzzuav_geofence(buzzvm_t vm);
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/*
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* Updates battery information in Buzz
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*/
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int buzzuav_update_battery(buzzvm_t vm);
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/*
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* Updates xbee_status information in Buzz
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*/
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int buzzuav_update_xbee_status(buzzvm_t vm);
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/*
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* Updates current position in Buzz
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*/
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int buzzuav_update_currentpos(buzzvm_t vm);
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/*
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* add new target in the BVM
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*/
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int buzzuav_addtargetRB(buzzvm_t vm);
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/*
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* Updates flight status and rc command in Buzz, put it in a tabel to acess it
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* use flight.status for flight status
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* use flight.rc_cmd for current rc cmd
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*/
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int buzzuav_update_flight_status(buzzvm_t vm);
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/*
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* Updates IR information in Buzz
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* Proximity and ground sensors to do !!!!
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*/
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int buzzuav_update_prox(buzzvm_t vm);
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/*
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* returns the current FC command
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*/
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int bzz_cmd();
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int dummy_closure(buzzvm_t vm);
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}
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