134 lines
3.4 KiB
C++
134 lines
3.4 KiB
C++
#pragma once
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//#ifndef BUZZUAV_CLOSURES_H
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//#define BUZZUAV_CLOSURES_H
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#include <buzz/buzzvm.h>
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#include <stdio.h>
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#include "uav_utility.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 "buzz_utility.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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typedef enum {
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COMMAND_NIL = 0, // Dummy command
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COMMAND_TAKEOFF, // Take off
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COMMAND_LAND,
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COMMAND_GOHOME,
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COMMAND_ARM,
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COMMAND_DISARM,
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COMMAND_GOTO,
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COMMAND_MOVETO,
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COMMAND_PICTURE,
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COMMAND_GIMBAL,
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} Custom_CommandCode;
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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 path);
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/*
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* buzzuav_goto(latitude,longitude,altitude) function in Buzz
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* commands the UAV to go to a position supplied
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*/
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int buzzuav_moveto(buzzvm_t vm);
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int buzzuav_storegoal(buzzvm_t vm);
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int buzzuav_setgimbal(buzzvm_t vm);
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void parse_gpslist();
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int buzzuav_takepicture(buzzvm_t vm);
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/* Returns the current command from local variable*/
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int getcmd();
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/*Sets goto position */
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void set_goto(double pos[]);
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/*Sets goto position from rc client*/
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void rc_set_goto(int id, double latitude, double longitude, double altitude);
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/*Sets gimbal orientation from rc client*/
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void rc_set_gimbal(int id, float yaw, float roll, float pitch, float t);
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/*sets rc requested command */
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void rc_call(int rc_cmd);
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/* sets the battery state */
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void set_battery(float voltage,float current,float remaining);
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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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/* sets current position */
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void set_currentpos(double latitude, double longitude, double altitude);
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/*retuns the current go to position */
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double* getgoto();
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std::string getuavstate();
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float* getgimbal();
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/* updates flight status*/
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void flight_status_update(uint8_t state);
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/* Update neighbors table */
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void neighbour_pos_callback(int id, float range, float bearing, float elevation);
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void update_neighbors(buzzvm_t vm);
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int buzzuav_addNeiStatus(buzzvm_t vm);
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mavros_msgs::Mavlink get_status();
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/*Flight status*/
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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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/* 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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/*
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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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int buzzuav_update_targets(buzzvm_t vm);
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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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int bzz_cmd();
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int dummy_closure(buzzvm_t vm);
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//#endif
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}
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