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XbeeMav
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merge conflict fix

This commit is contained in:
vivek-shankar 2017-02-17 16:41:50 -05:00
parent 5196f7048c
commit a55662ff3e
5 changed files with 1 additions and 102 deletions
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20
CMakeLists.txt
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@ -53,32 +53,19 @@ include_directories(
) )
<<<<<<< HEAD
add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp)
target_link_libraries(xbee_mav ${catkin_LIBRARIES})
add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
target_link_libraries(config ${catkin_LIBRARIES})
=======
add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler) add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler)
target_link_libraries(xbee_mav ${catkin_LIBRARIES}) target_link_libraries(xbee_mav ${catkin_LIBRARIES})
#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp) #add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
#target_link_libraries(config ${catkin_LIBRARIES}) #target_link_libraries(config ${catkin_LIBRARIES})
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
#add_executable(test_controller src/TestController.cpp) #add_executable(test_controller src/TestController.cpp)
#target_link_libraries(test_controller ${catkin_LIBRARIES}) #target_link_libraries(test_controller ${catkin_LIBRARIES})
<<<<<<< HEAD
#add_executable(test_buzz src/TestBuzz.cpp)
#target_link_libraries(test_buzz ${catkin_LIBRARIES})
=======
add_executable(test_buzz src/TestBuzz.cpp) add_executable(test_buzz src/TestBuzz.cpp)
target_link_libraries(test_buzz ${catkin_LIBRARIES}) target_link_libraries(test_buzz ${catkin_LIBRARIES})
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
############# #############
## Install ## ## Install ##
@ -89,9 +76,4 @@ target_link_libraries(test_buzz ${catkin_LIBRARIES})
############# #############
## Testing ## ## Testing ##
############# #############
<<<<<<< HEAD
=======
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1

60
include/CommunicationManager.h
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@ -1,10 +1,6 @@
/* CommunicationManager.h -- Communication Manager class for XBee: /* CommunicationManager.h -- Communication Manager class for XBee:
Handles all communications with other ROS nodes Handles all communications with other ROS nodes
<<<<<<< HEAD
and the serial port -- */ and the serial port -- */
=======
and the serial port -- */
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
/* ------------------------------------------------------------------------- */ /* ------------------------------------------------------------------------- */
/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */ /* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */
/* (aymen.soussia@gmail.com) */ /* (aymen.soussia@gmail.com) */
@ -20,18 +16,9 @@
#include<mavros_msgs/Mavlink.h> #include<mavros_msgs/Mavlink.h>
#include <ros/ros.h> #include <ros/ros.h>
<<<<<<< HEAD
#include"SerialDevice.h"
#define MESSAGE_CONSTANT 238
#define ACK_MESSAGE_CONSTANT 911
#define XBEE_MESSAGE_CONSTANT 586782343
#define XBEE_STOP_TRANSMISSION 4355356352
=======
#include"PacketsHandler.h" #include"PacketsHandler.h"
#include"SerialDevice.h" #include"SerialDevice.h"
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
namespace Mist namespace Mist
{ {
@ -72,30 +59,14 @@ private:
void Run_In_Solo_Mode(DRONE_TYPE drone_type); void Run_In_Solo_Mode(DRONE_TYPE drone_type);
void Run_In_Swarm_Mode(); void Run_In_Swarm_Mode();
<<<<<<< HEAD
void Generate_Transmit_Request_Frame(
const char* const message,
std::string* frame,
int tot,
=======
/*void Generate_Transmit_Request_Frame( /*void Generate_Transmit_Request_Frame(
const char* const message, const char* const message,
std::string* frame, std::string* frame,
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
const unsigned char frame_ID = const unsigned char frame_ID =
static_cast<unsigned char>(0x01), static_cast<unsigned char>(0x01),
const std::string& destination_adssress = "000000000000FFFF", const std::string& destination_adssress = "000000000000FFFF",
const std::string& short_destination_adress = "FFFF", const std::string& short_destination_adress = "FFFF",
const std::string& broadcast_radius = "00", const std::string& broadcast_radius = "00",
<<<<<<< HEAD
const std::string& options = "00");
void Check_In_Messages_and_Transfer_To_Topics();
void Display_Init_Communication_Failure();
void Convert_HEX_To_Bytes(const std::string& HEX_data,
std::string* converted_data);
void Calculate_and_Append_Checksum(std::string* frame);
void Add_Length_and_Start_Delimiter(std::string* frame);
=======
const std::string& options = "00");*/ const std::string& options = "00");*/
//void Check_In_Messages_and_Transfer_To_Topics(); //void Check_In_Messages_and_Transfer_To_Topics();
void Display_Init_Communication_Failure(); void Display_Init_Communication_Failure();
@ -103,7 +74,6 @@ private:
//std::string* converted_data); //std::string* converted_data);
//void Calculate_and_Append_Checksum(std::string* frame); //void Calculate_and_Append_Checksum(std::string* frame);
//void Add_Length_and_Start_Delimiter(std::string* frame); //void Add_Length_and_Start_Delimiter(std::string* frame);
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
void Send_Mavlink_Message_Callback( void Send_Mavlink_Message_Callback(
const mavros_msgs::Mavlink::ConstPtr& mavlink_msg); const mavros_msgs::Mavlink::ConstPtr& mavlink_msg);
void Display_Drone_Type_and_Running_Mode(DRONE_TYPE drone_type, void Display_Drone_Type_and_Running_Mode(DRONE_TYPE drone_type,
@ -111,12 +81,6 @@ private:
bool Serve_Flight_Controller(mavros_msgs::CommandInt:: bool Serve_Flight_Controller(mavros_msgs::CommandInt::
Request& request, mavros_msgs::CommandInt::Response& response); Request& request, mavros_msgs::CommandInt::Response& response);
void Check_In_Messages_and_Transfer_To_Server(); void Check_In_Messages_and_Transfer_To_Server();
<<<<<<< HEAD
unsigned short Caculate_Checksum(std::string* frame);
void Send_multi_msg();
Mist::Xbee::SerialDevice serial_device_;
Thread_Safe_Deque* in_messages_;
=======
void Process_In_Standard_Messages(); void Process_In_Standard_Messages();
void Process_In_Acks_and_Pings(); void Process_In_Acks_and_Pings();
void Process_In_Fragments(); void Process_In_Fragments();
@ -130,36 +94,12 @@ private:
Thread_Safe_Deque in_Acks_and_Pings_; Thread_Safe_Deque in_Acks_and_Pings_;
Thread_Safe_Deque command_responses_; Thread_Safe_Deque command_responses_;
Thread_Safe_Deque in_packets_; Thread_Safe_Deque in_packets_;
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
ros::NodeHandle node_handle_; ros::NodeHandle node_handle_;
ros::Subscriber mavlink_subscriber_; ros::Subscriber mavlink_subscriber_;
ros::Publisher mavlink_publisher_; ros::Publisher mavlink_publisher_;
ros::ServiceClient mav_dji_client_; ros::ServiceClient mav_dji_client_;
ros::ServiceServer mav_dji_server_; ros::ServiceServer mav_dji_server_;
<<<<<<< HEAD
/*No of robots*/
int no_of_dev;
int device_id;
/*Vector msgs*/
std::map< std::size_t, std::shared_ptr<std::string> > multi_msgs_receive;
std::vector<std::string> multi_msgs_send_dict;
/*Sending param*/
uint16_t sending_chunk_no, Sender_cur_checksum;
std::map< uint16_t, uint16_t > ack_received_dict;
//std::vector<uint16_t> multi_msgs_send_counter;
//std::vector<uint16_t> multi_msgs_sender;
/*Receiving param*/
uint16_t receiver_cur_checksum;
uint16_t counter; //After implementation change this to vector.size()
uint16_t receiveing_cur_totalsize;
uint16_t steps;
//uint16_t multi_msg_size;
uint64_t message_obtmulti[600];
//int test_1;
//struct timeval t1, t2;
=======
std::shared_ptr<std::thread> service_thread_; // TO DO delete !? std::shared_ptr<std::thread> service_thread_; // TO DO delete !?
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
}; };

4
include/MultithreadingDeque.hpp
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@ -36,11 +36,7 @@ public:
//**************************************************************************** //****************************************************************************
<<<<<<< HEAD
void Push_Pack(const _T& new_data)
=======
void Push_Back(const _T& new_data) void Push_Back(const _T& new_data)
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
{ {
std::lock_guard<std::mutex> guard(mutex_); std::lock_guard<std::mutex> guard(mutex_);
deque_.push_back(new_data); deque_.push_back(new_data);

12
include/SerialDevice.h
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@ -25,9 +25,6 @@ namespace Xbee
{ {
<<<<<<< HEAD
typedef MultithreadingDeque<std::shared_ptr<std::string>> Thread_Safe_Deque;
=======
struct Out_Packet_S struct Out_Packet_S
{ {
uint8_t packet_ID_; uint8_t packet_ID_;
@ -36,7 +33,6 @@ struct Out_Packet_S
typedef MultithreadingDeque<std::shared_ptr<std::string>> Thread_Safe_Deque; typedef MultithreadingDeque<std::shared_ptr<std::string>> Thread_Safe_Deque;
typedef MultithreadingDeque<Out_Packet_S> Thread_Safe_Deque_Of_Vectors; typedef MultithreadingDeque<Out_Packet_S> Thread_Safe_Deque_Of_Vectors;
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
//***************************************************************************** //*****************************************************************************
@ -50,9 +46,6 @@ public:
void Send_Frame(const std::string& frame); void Send_Frame(const std::string& frame);
void Run_Service(); void Run_Service();
void Stop_Service(); void Stop_Service();
<<<<<<< HEAD
Thread_Safe_Deque* Get_In_Messages_Pointer();
=======
void Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages, void Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages,
Thread_Safe_Deque* in_fragments, Thread_Safe_Deque* in_fragments,
Thread_Safe_Deque* in_Acks_and_Pings, Thread_Safe_Deque* in_Acks_and_Pings,
@ -60,7 +53,6 @@ public:
bool Is_IO_Service_Stopped(); // TO DO delete this function bool Is_IO_Service_Stopped(); // TO DO delete this function
void Reset_IO_Service(); // TO DO delete this function void Reset_IO_Service(); // TO DO delete this function
void Close_Serial_Port(); void Close_Serial_Port();
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
private: private:
@ -92,14 +84,10 @@ private:
boost::asio::io_service io_service_; boost::asio::io_service io_service_;
boost::asio::serial_port serial_port_; boost::asio::serial_port serial_port_;
std::deque<std::string> out_messages_; std::deque<std::string> out_messages_;
<<<<<<< HEAD
Thread_Safe_Deque in_messages_;
=======
Thread_Safe_Deque* in_std_messages_; Thread_Safe_Deque* in_std_messages_;
Thread_Safe_Deque* in_fragments_; Thread_Safe_Deque* in_fragments_;
Thread_Safe_Deque* in_Acks_and_Pings_; Thread_Safe_Deque* in_Acks_and_Pings_;
Thread_Safe_Deque* command_responses_; Thread_Safe_Deque* command_responses_;
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
Mist::Xbee::Frame current_frame_; Mist::Xbee::Frame current_frame_;
unsigned int FRAME_TYPE_KEYS[REMOTE_AT_COMMAND_RESPONSE + 1]; unsigned int FRAME_TYPE_KEYS[REMOTE_AT_COMMAND_RESPONSE + 1];
}; };

7
include/XBeeFrame.h
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@ -27,11 +27,7 @@ public:
~Frame(); ~Frame();
enum {FRAME_HEADER_LENGTH = 4}; enum {FRAME_HEADER_LENGTH = 4};
<<<<<<< HEAD
enum {MAX_FRAME_BODY_LENGTH = 280}; // TO DO check value
=======
enum {MAX_FRAME_BODY_LENGTH = 270}; // TO DO check value enum {MAX_FRAME_BODY_LENGTH = 270}; // TO DO check value
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
const char* Get_Frame_Data() const; const char* Get_Frame_Data() const;
char* Get_Frame_Data(); char* Get_Frame_Data();
@ -43,10 +39,7 @@ public:
std::size_t Get_Frame_Type() const; std::size_t Get_Frame_Type() const;
int Get_Start_Delimiter_Position(); int Get_Start_Delimiter_Position();
void Rearrange_Corrupted_Header(); void Rearrange_Corrupted_Header();
<<<<<<< HEAD
=======
char Get_Message_Type(); // TO DO const !? char Get_Message_Type(); // TO DO const !?
>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
private: private: