From 50095af0f1167e0007132a3e97b5b0b7ce7ffb42 Mon Sep 17 00:00:00 2001
From: CIM Husky <husky@mistlab.ca>
Date: Wed, 20 Sep 2017 12:57:20 -0400
Subject: [PATCH] re-add param for database and xbee port

---
 CMakeLists.txt         |  6 +++++-
 launch/xbeemav.launch  |  2 ++
 src/PacketsHandler.cpp |  7 +++----
 src/Xbee.cpp           | 19 +++++++++++++++----
 4 files changed, 25 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 49d6148..0bd4af3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,7 +45,11 @@ catkin_package(
 ###########
 ## Build ##
 ###########
-
+## Add definitions
+add_definitions(
+  -DDATABASE_PATH="${CMAKE_CURRENT_SOURCE_DIR}/Resources/database.xml"
+  -DXBEE_CONFIG_PATH="${CMAKE_CURRENT_SOURCE_DIR}/Resources/XBee_Config.xml"
+)
 
 ## Specify additional locations of header files
 include_directories(
diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch
index 060dac3..4d789ce 100644
--- a/launch/xbeemav.launch
+++ b/launch/xbeemav.launch
@@ -9,4 +9,6 @@
 	<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
 	<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
 	<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
+	<param name="USB_port" type="str" value="/dev/ttyUSB0" />
+	<param name="Baud_rate" type="double" value="230400" />
 </launch>
diff --git a/src/PacketsHandler.cpp b/src/PacketsHandler.cpp
index 4b0cb45..f662614 100644
--- a/src/PacketsHandler.cpp
+++ b/src/PacketsHandler.cpp
@@ -466,12 +466,11 @@ void PacketsHandler::Send_End_Of_Packet_Ping(const uint8_t packet_ID, const uint
 //*****************************************************************************
 bool PacketsHandler::Load_Database_Addresses()
 {
-	const std::string FILE_PATH = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/database.xml";
-	
-	
+	const std::string FILE_PATH = DATABASE_PATH;
+
 	if (!boost::filesystem::exists(FILE_PATH))
 	{	
-		std::cout << "database.xml Not Found." << std::endl;
+		std::cout << "database.xml Not Found with path: " << FILE_PATH << std::endl;
 		return false;
 	}
 	
diff --git a/src/Xbee.cpp b/src/Xbee.cpp
index 496d531..53b2669 100644
--- a/src/Xbee.cpp
+++ b/src/Xbee.cpp
@@ -14,10 +14,11 @@ int main(int argc, char* argv[])
   try
   {
 	ros::init(argc, argv, "xbee");
+	ros::NodeHandle node_handle;
 
 	Mist::Xbee::CommunicationManager communication_manager;
-	const std::string& device = "/dev/ttyUSB0"; // TO DO can be introduced as command.
-	const std::size_t baud_rate = 230400; // TO DO Can be introduced as command.
+	std::string device;
+	double baud_rate;
 	Mist::Xbee::CommunicationManager::DRONE_TYPE drone_type = 
 			Mist::Xbee::CommunicationManager::DRONE_TYPE::SLAVE;
 	Mist::Xbee::CommunicationManager::RUNNING_MODE running_mode =
@@ -34,8 +35,18 @@ int main(int argc, char* argv[])
 				running_mode = Mist::Xbee::CommunicationManager::RUNNING_MODE::SWARM;
 		}
 	}
-	
-	if (communication_manager.Init(device, baud_rate))
+	if (!node_handle.getParam("USB_port", device))
+     	{
+       		std::cout << "Failed to Get Topic Name: param 'USB_port' Not Found." << std::endl;
+       		return EXIT_FAILURE;
+     	}
+
+     	if (!node_handle.getParam("Baud_rate", baud_rate))
+     	{
+       		std::cout << "Failed to Get Topic Name: param 'Baud_rate' Not Found." << std::endl;
+       		return EXIT_FAILURE;
+     	}
+	if (communication_manager.Init(device, static_cast<std::size_t>(baud_rate)))
 		communication_manager.Run(drone_type, running_mode);
   }
   catch (const std::exception& e)