104 lines
2.7 KiB
C++
104 lines
2.7 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 "mavros_msgs/GlobalPositionTarget.h"
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#include "mavros_msgs/CommandCode.h"
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#include "mavros_msgs/CommandInt.h"
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#include "mavros_msgs/ExtendedState.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 "sensor_msgs/NavSatStatus.h"
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#include <sstream>
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#include <buzz/buzzasm.h>
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#include "buzzuav_closures.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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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);
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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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double cur_pos[3];
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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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int timer_step=0;
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int robot_id=0;
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int oldcmdID=0;
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int rc_cmd;
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std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload; //, rcclient;
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bool rcclient;
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ros::ServiceClient mav_client;
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ros::Publisher payload_pub;
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ros::ServiceServer service;
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ros::Subscriber current_position_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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/*Commands for flight controller*/
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mavros_msgs::CommandInt cmd_srv;
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void Initialize_pub_sub(ros::NodeHandle n_c);
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/*Obtain data from ros parameter server*/
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void Rosparameters_get(ros::NodeHandle n_c);
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/*compiles buzz script from the specified .bzz file*/
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void Compile_bzz();
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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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/*Maintain neighbours position*/
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void neighbours_pos_maintain(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 catresian to spherical coordinate system callback */
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double* cvt_spherical_coordinates(double neighbours_pos_payload []);
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/*battery status callback*/
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void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
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/*flight status callback*/
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void flight_status_update(const mavros_msgs::ExtendedState::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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/*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::CommandInt::Request &req,
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mavros_msgs::CommandInt::Response &res);
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};
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}
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