merge conflict fix
This commit is contained in:
vivek-shankar
parent
5196f7048c
commit
a55662ff3e
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@ -53,32 +53,19 @@ include_directories(
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)
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<<<<<<< HEAD
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add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp)
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target_link_libraries(xbee_mav ${catkin_LIBRARIES})
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add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
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target_link_libraries(config ${catkin_LIBRARIES})
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=======
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add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp src/CommunicationManager.cpp src/PacketsHandler)
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target_link_libraries(xbee_mav ${catkin_LIBRARIES})
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#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
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#target_link_libraries(config ${catkin_LIBRARIES})
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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#add_executable(test_controller src/TestController.cpp)
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#target_link_libraries(test_controller ${catkin_LIBRARIES})
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<<<<<<< HEAD
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#add_executable(test_buzz src/TestBuzz.cpp)
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#target_link_libraries(test_buzz ${catkin_LIBRARIES})
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=======
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add_executable(test_buzz src/TestBuzz.cpp)
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target_link_libraries(test_buzz ${catkin_LIBRARIES})
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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#############
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## Install ##
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@ -89,9 +76,4 @@ target_link_libraries(test_buzz ${catkin_LIBRARIES})
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#############
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## Testing ##
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#############
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<<<<<<< HEAD
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=======
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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@ -1,10 +1,6 @@
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/* CommunicationManager.h -- Communication Manager class for XBee:
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Handles all communications with other ROS nodes
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<<<<<<< HEAD
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and the serial port -- */
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=======
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and the serial port -- */
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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/* ------------------------------------------------------------------------- */
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/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */
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/* (aymen.soussia@gmail.com) */
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@ -20,18 +16,9 @@
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#include<mavros_msgs/Mavlink.h>
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#include <ros/ros.h>
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<<<<<<< HEAD
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#include"SerialDevice.h"
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#define MESSAGE_CONSTANT 238
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#define ACK_MESSAGE_CONSTANT 911
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#define XBEE_MESSAGE_CONSTANT 586782343
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#define XBEE_STOP_TRANSMISSION 4355356352
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=======
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#include"PacketsHandler.h"
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#include"SerialDevice.h"
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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namespace Mist
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{
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@ -72,30 +59,14 @@ private:
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void Run_In_Solo_Mode(DRONE_TYPE drone_type);
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void Run_In_Swarm_Mode();
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<<<<<<< HEAD
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void Generate_Transmit_Request_Frame(
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const char* const message,
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std::string* frame,
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int tot,
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=======
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/*void Generate_Transmit_Request_Frame(
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const char* const message,
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std::string* frame,
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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const unsigned char frame_ID =
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static_cast<unsigned char>(0x01),
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const std::string& destination_adssress = "000000000000FFFF",
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const std::string& short_destination_adress = "FFFF",
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const std::string& broadcast_radius = "00",
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<<<<<<< HEAD
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const std::string& options = "00");
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void Check_In_Messages_and_Transfer_To_Topics();
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void Display_Init_Communication_Failure();
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void Convert_HEX_To_Bytes(const std::string& HEX_data,
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std::string* converted_data);
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void Calculate_and_Append_Checksum(std::string* frame);
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void Add_Length_and_Start_Delimiter(std::string* frame);
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=======
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const std::string& options = "00");*/
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//void Check_In_Messages_and_Transfer_To_Topics();
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void Display_Init_Communication_Failure();
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@ -103,7 +74,6 @@ private:
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//std::string* converted_data);
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//void Calculate_and_Append_Checksum(std::string* frame);
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//void Add_Length_and_Start_Delimiter(std::string* frame);
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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void Send_Mavlink_Message_Callback(
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const mavros_msgs::Mavlink::ConstPtr& mavlink_msg);
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void Display_Drone_Type_and_Running_Mode(DRONE_TYPE drone_type,
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@ -111,12 +81,6 @@ private:
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bool Serve_Flight_Controller(mavros_msgs::CommandInt::
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Request& request, mavros_msgs::CommandInt::Response& response);
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void Check_In_Messages_and_Transfer_To_Server();
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<<<<<<< HEAD
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unsigned short Caculate_Checksum(std::string* frame);
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void Send_multi_msg();
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Mist::Xbee::SerialDevice serial_device_;
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Thread_Safe_Deque* in_messages_;
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=======
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void Process_In_Standard_Messages();
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void Process_In_Acks_and_Pings();
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void Process_In_Fragments();
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@ -130,36 +94,12 @@ private:
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Thread_Safe_Deque in_Acks_and_Pings_;
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Thread_Safe_Deque command_responses_;
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Thread_Safe_Deque in_packets_;
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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ros::NodeHandle node_handle_;
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ros::Subscriber mavlink_subscriber_;
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ros::Publisher mavlink_publisher_;
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ros::ServiceClient mav_dji_client_;
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ros::ServiceServer mav_dji_server_;
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<<<<<<< HEAD
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/*No of robots*/
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int no_of_dev;
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int device_id;
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/*Vector msgs*/
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std::map< std::size_t, std::shared_ptr<std::string> > multi_msgs_receive;
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std::vector<std::string> multi_msgs_send_dict;
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/*Sending param*/
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uint16_t sending_chunk_no, Sender_cur_checksum;
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std::map< uint16_t, uint16_t > ack_received_dict;
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//std::vector<uint16_t> multi_msgs_send_counter;
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//std::vector<uint16_t> multi_msgs_sender;
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/*Receiving param*/
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uint16_t receiver_cur_checksum;
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uint16_t counter; //After implementation change this to vector.size()
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uint16_t receiveing_cur_totalsize;
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uint16_t steps;
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//uint16_t multi_msg_size;
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uint64_t message_obtmulti[600];
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//int test_1;
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//struct timeval t1, t2;
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=======
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std::shared_ptr<std::thread> service_thread_; // TO DO delete !?
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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};
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@ -36,11 +36,7 @@ public:
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//****************************************************************************
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<<<<<<< HEAD
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void Push_Pack(const _T& new_data)
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=======
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void Push_Back(const _T& new_data)
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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{
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std::lock_guard<std::mutex> guard(mutex_);
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deque_.push_back(new_data);
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@ -25,9 +25,6 @@ namespace Xbee
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{
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<<<<<<< HEAD
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typedef MultithreadingDeque<std::shared_ptr<std::string>> Thread_Safe_Deque;
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=======
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struct Out_Packet_S
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{
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uint8_t packet_ID_;
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@ -36,7 +33,6 @@ struct Out_Packet_S
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typedef MultithreadingDeque<std::shared_ptr<std::string>> Thread_Safe_Deque;
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typedef MultithreadingDeque<Out_Packet_S> Thread_Safe_Deque_Of_Vectors;
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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//*****************************************************************************
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@ -50,9 +46,6 @@ public:
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void Send_Frame(const std::string& frame);
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void Run_Service();
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void Stop_Service();
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<<<<<<< HEAD
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Thread_Safe_Deque* Get_In_Messages_Pointer();
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=======
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void Set_In_Messages_Pointers(Thread_Safe_Deque* in_std_messages,
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Thread_Safe_Deque* in_fragments,
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Thread_Safe_Deque* in_Acks_and_Pings,
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@ -60,7 +53,6 @@ public:
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bool Is_IO_Service_Stopped(); // TO DO delete this function
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void Reset_IO_Service(); // TO DO delete this function
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void Close_Serial_Port();
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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private:
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@ -92,14 +84,10 @@ private:
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boost::asio::io_service io_service_;
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boost::asio::serial_port serial_port_;
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std::deque<std::string> out_messages_;
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<<<<<<< HEAD
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Thread_Safe_Deque in_messages_;
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=======
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Thread_Safe_Deque* in_std_messages_;
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Thread_Safe_Deque* in_fragments_;
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Thread_Safe_Deque* in_Acks_and_Pings_;
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Thread_Safe_Deque* command_responses_;
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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Mist::Xbee::Frame current_frame_;
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unsigned int FRAME_TYPE_KEYS[REMOTE_AT_COMMAND_RESPONSE + 1];
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};
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@ -27,11 +27,7 @@ public:
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~Frame();
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enum {FRAME_HEADER_LENGTH = 4};
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<<<<<<< HEAD
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enum {MAX_FRAME_BODY_LENGTH = 280}; // TO DO check value
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=======
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enum {MAX_FRAME_BODY_LENGTH = 270}; // TO DO check value
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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const char* Get_Frame_Data() const;
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char* Get_Frame_Data();
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@ -43,10 +39,7 @@ public:
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std::size_t Get_Frame_Type() const;
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int Get_Start_Delimiter_Position();
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void Rearrange_Corrupted_Header();
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<<<<<<< HEAD
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=======
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char Get_Message_Type(); // TO DO const !?
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>>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
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private:
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