CentralManagerService.h 5.14 KB
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//    Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
//    This file is part of D-FaLL-System.
//    
//    D-FaLL-System is free software: you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation, either version 3 of the License, or
//    (at your option) any later version.
//    
//    D-FaLL-System is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//    
//    You should have received a copy of the GNU General Public License
//    along with D-FaLL-System.  If not, see <http://www.gnu.org/licenses/>.
//    
//
//    ----------------------------------------------------------------------------------
//    DDDD        FFFFF        L     L           SSSS  Y   Y   SSSS  TTTTT  EEEEE  M   M
//    D   D       F      aaa   L     L          S       Y Y   S        T    E      MM MM
//    D   D  ---  FFFF  a   a  L     L     ---   SSS     Y     SSS     T    EEE    M M M
//    D   D       F     a  aa  L     L              S    Y        S    T    E      M   M
//    DDDD        F      aa a  LLLL  LLLL       SSSS     Y    SSSS     T    EEEEE  M   M
//
//
//    DESCRIPTION:
//    Header for the service that manages the context of the student groups.
//
//    ----------------------------------------------------------------------------------


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//    ----------------------------------------------------------------------------------
//    III  N   N   CCCC  L      U   U  DDDD   EEEEE   SSSS
//     I   NN  N  C      L      U   U  D   D  E      S
//     I   N N N  C      L      U   U  D   D  EEE     SSS
//     I   N  NN  C      L      U   U  D   D  E          S
//    III  N   N   CCCC  LLLLL   UUU   DDDD   EEEEE  SSSS
//    ----------------------------------------------------------------------------------

#include <stdlib.h>
#include <ros/ros.h>
#include "d_fall_pps/CrazyflieContext.h"
#include "d_fall_pps/CrazyflieDB.h"

#include "d_fall_pps/CMRead.h"
#include "d_fall_pps/CMQuery.h"
#include "d_fall_pps/CMUpdate.h"
#include "d_fall_pps/CMCommand.h"

#include "CrazyflieIO.h"





//    ----------------------------------------------------------------------------------
//    DDDD   EEEEE  FFFFF  III  N   N  EEEEE   SSSS
//    D   D  E      F       I   NN  N  E      S
//    D   D  EEE    FFF     I   N N N  EEE     SSS
//    D   D  E      F       I   N  NN  E          S
//    DDDD   EEEEE  F      III  N   N  EEEEE  SSSS
//    ----------------------------------------------------------------------------------

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//for field command in CMCommand
#define CMD_SAVE    1
#define CMD_RELOAD  2

//for field mode in CMUpdate
#define ENTRY_INSERT_OR_UPDATE  1
#define ENTRY_REMOVE            2

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// For which controller parameters to load
#define LOAD_YAML_SAFE_CONTROLLER_AGENT          1
#define LOAD_YAML_DEMO_CONTROLLER_AGENT        2
#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR    3
#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR  4

// For which controller parameters and from where to fetch
#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT        1
#define FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT      2
#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR      3
#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR    4


using namespace d_fall_pps;
using namespace std;





//    ----------------------------------------------------------------------------------
//    V   V    A    RRRR   III    A    BBBB   L      EEEEE   SSSS
//    V   V   A A   R   R   I    A A   B   B  L      E      S
//    V   V  A   A  RRRR    I   A   A  BBBB   L      EEE     SSS
//     V V   AAAAA  R  R    I   AAAAA  B   B  L      E          S
//      V    A   A  R   R  III  A   A  BBBB   LLLLL  EEEEE  SSSS
//    ----------------------------------------------------------------------------------

CrazyflieDB crazyflieDB;





//    ----------------------------------------------------------------------------------
//    FFFFF  U   U  N   N   CCCC  TTTTT  III   OOO   N   N
//    F      U   U  NN  N  C        T     I   O   O  NN  N
//    FFF    U   U  N N N  C        T     I   O   O  N N N
//    F      U   U  N  NN  C        T     I   O   O  N  NN
//    F       UUU   N   N   CCCC    T    III   OOO   N   N
//
//    PPPP   RRRR    OOO   TTTTT   OOO   TTTTT  Y   Y  PPPP   EEEEE   SSSS
//    P   P  R   R  O   O    T    O   O    T     Y Y   P   P  E      S
//    PPPP   RRRR   O   O    T    O   O    T      Y    PPPP   EEE     SSS
//    P      R  R   O   O    T    O   O    T      Y    P      E          S
//    P      R   R   OOO     T     OOO     T      Y    P      EEEEE  SSSS
//    ----------------------------------------------------------------------------------

bool cmRead(CMRead::Request &request, CMRead::Response &response);
int findEntryByStudID(unsigned int studID);
bool cmQuery(CMQuery::Request &request, CMQuery::Response &response);
int findEntryByCF(string name);
bool cmUpdate(CMUpdate::Request &request, CMUpdate::Response &response);
bool cmCommand(CMCommand::Request &request, CMCommand::Response &response);