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XbeeMav/include/CommunicationManager.h

124 lines
3.5 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<mavros_msgs/CommandCode.h>
#include<mavros_msgs/CommandInt.h>
#include<mavros_msgs/Mavlink.h>
#include <ros/ros.h>
#include"SerialDevice.h"
#define MESSAGE_CONSTANT 238
#define ACK_MESSAGE_CONSTANT 911
#define XBEE_MESSAGE_CONSTANT 586782343
#define XBEE_STOP_TRANSMISSION 4355356352
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,
int tot,
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();
unsigned short Caculate_Checksum(std::string* frame);
void Send_multi_msg();
Mist::Xbee::SerialDevice serial_device_;
Thread_Safe_Deque* in_messages_;
ros::NodeHandle node_handle_;
ros::Subscriber mavlink_subscriber_;
ros::Publisher mavlink_publisher_;
ros::ServiceClient mav_dji_client_;
ros::ServiceServer mav_dji_server_;
/*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;
};
}
}