114 lines
3.4 KiB
C++
114 lines
3.4 KiB
C++
/* CommunicationManager.h -- Communication Manager class for XBee:
|
|
Handles all communications with other ROS nodes
|
|
and the serial port -- */
|
|
/* ------------------------------------------------------------------------- */
|
|
/* September 20, 2016 -- @Copyright Aymen Soussia. All rights reserved. */
|
|
/* (aymen.soussia@gmail.com) */
|
|
|
|
|
|
#pragma once
|
|
|
|
#include <inttypes.h>
|
|
#include<thread>
|
|
#include <std_msgs/UInt8.h>
|
|
#include<mavros_msgs/CommandCode.h>
|
|
#include<mavros_msgs/CommandInt.h>
|
|
#include<mavros_msgs/Mavlink.h>
|
|
#include <ros/ros.h>
|
|
#include <mavros_msgs/ParamGet.h>
|
|
#include <mavros_msgs/ParamValue.h>
|
|
#include"PacketsHandler.h"
|
|
#include"SerialDevice.h"
|
|
|
|
|
|
namespace Mist
|
|
{
|
|
|
|
|
|
namespace Xbee
|
|
{
|
|
|
|
|
|
//*****************************************************************************
|
|
struct Waypoint_S
|
|
{
|
|
unsigned int latitude;
|
|
unsigned int longitude;
|
|
double altitude;
|
|
unsigned int staytime;
|
|
unsigned int heading;
|
|
};
|
|
|
|
|
|
//*****************************************************************************
|
|
class CommunicationManager
|
|
{
|
|
public:
|
|
CommunicationManager();
|
|
~CommunicationManager();
|
|
|
|
enum class DRONE_TYPE {MASTER, SLAVE};
|
|
enum class RUNNING_MODE {SWARM, SOLO};
|
|
|
|
bool Init(const std::string& device, const std::size_t baud_rate);
|
|
void Run(DRONE_TYPE drone_type, RUNNING_MODE running_mode);
|
|
|
|
private:
|
|
|
|
const unsigned char START_DLIMITER;
|
|
const std::size_t LOOP_RATE;
|
|
|
|
void Run_In_Solo_Mode(DRONE_TYPE drone_type);
|
|
void Run_In_Swarm_Mode();
|
|
/*void Generate_Transmit_Request_Frame(
|
|
const char* const message,
|
|
std::string* frame,
|
|
const unsigned char frame_ID =
|
|
static_cast<unsigned char>(0x01),
|
|
const std::string& destination_adssress = "000000000000FFFF",
|
|
const std::string& short_destination_adress = "FFFF",
|
|
const std::string& broadcast_radius = "00",
|
|
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);
|
|
void Send_Mavlink_Message_Callback(
|
|
const mavros_msgs::Mavlink::ConstPtr& mavlink_msg);
|
|
void Display_Drone_Type_and_Running_Mode(DRONE_TYPE drone_type,
|
|
RUNNING_MODE running_mode);
|
|
bool Serve_Flight_Controller(mavros_msgs::CommandInt::
|
|
Request& request, mavros_msgs::CommandInt::Response& response);
|
|
void Check_In_Messages_and_Transfer_To_Server();
|
|
void Process_In_Standard_Messages();
|
|
void Process_In_Acks_and_Pings();
|
|
void Process_In_Fragments();
|
|
void Process_In_Packets();
|
|
void Process_Command_Responses();
|
|
bool Get_Param(mavros_msgs::ParamGet::Request& req, mavros_msgs::ParamGet::Response& res);
|
|
|
|
Mist::Xbee::SerialDevice serial_device_;
|
|
Mist::Xbee::PacketsHandler packets_handler_;
|
|
Thread_Safe_Deque in_std_messages_;
|
|
Thread_Safe_Deque in_fragments_;
|
|
Thread_Safe_Deque in_Acks_and_Pings_;
|
|
Thread_Safe_Deque command_responses_;
|
|
Thread_Safe_Deque in_packets_;
|
|
ros::NodeHandle node_handle_;
|
|
ros::Subscriber mavlink_subscriber_;
|
|
ros::Publisher mavlink_publisher_;
|
|
ros::ServiceClient mav_dji_client_;
|
|
ros::ServiceServer mav_dji_server_;
|
|
ros::ServiceServer StatusSrv_;
|
|
std_msgs::UInt8 device_id_out;
|
|
std::shared_ptr<std::thread> service_thread_; // TO DO delete !?
|
|
};
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|