119 lines
3.4 KiB
C++
119 lines
3.4 KiB
C++
/* CommunicationManager.h -- Communication Manager class for XBee:
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Handles all communications with other ROS nodes
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and the serial port -- */
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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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#pragma once
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#include <inttypes.h>
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#include<thread>
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#include<mavros_msgs/CommandCode.h>
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#include<mavros_msgs/CommandInt.h>
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#include<mavros_msgs/Mavlink.h>
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#include <ros/ros.h>
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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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namespace Mist
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{
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namespace Xbee
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{
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//*****************************************************************************
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struct Waypoint_S
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{
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unsigned int latitude;
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unsigned int longitude;
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double altitude;
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unsigned int staytime;
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unsigned int heading;
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};
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//*****************************************************************************
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class CommunicationManager
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{
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public:
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CommunicationManager();
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~CommunicationManager();
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enum class DRONE_TYPE {MASTER, SLAVE};
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enum class RUNNING_MODE {SWARM, SOLO};
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bool Init(const std::string& device, const std::size_t baud_rate);
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void Run(DRONE_TYPE drone_type, RUNNING_MODE running_mode);
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private:
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const unsigned char START_DLIMITER;
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const std::size_t LOOP_RATE;
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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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void Generate_Transmit_Request_Frame(
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const char* const message,
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std::string* frame,
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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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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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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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RUNNING_MODE running_mode);
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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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unsigned short Caculate_Checksum(std::string* frame);
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Mist::Xbee::SerialDevice serial_device_;
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Thread_Safe_Deque* in_messages_;
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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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/*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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};
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}
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}
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