some tests with git

pps_ws/src/d_fall_pps/src/PPSClient.cpp

@@ -14,30 +14,30 @@
 //    You should have received a copy of the GNU General Public License
 //    along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
+
+//TODO:
+//CentralManager: extract data about room from vicon data
+//CentralManager: assign area for each group and those coordinates to PPSClients
+//ViconDataPublisher: extract data about room from vicon data in and send also to PPSClient
+//PPSClient: Compare data received from CentralManager and ViconDataPublisher and determine in which area you are
+//PPSClient: Choose correct controller accoring to current area
+
+
 #include "ros/ros.h"
 #include "d_fall_pps/ViconData.h"
 
 //the teamname and the assigned crazyflie, will be extracted from studentParams.yaml
-std::string team; //is this needed?
+std::string team; //is this needed here? maybe for room asignment received from CentralManager?
 std::string cflie;
 
+//global sevices
+ros::ServiceClient rateClient;
 
-
-//debugging
-int callbackCalls = 0;
-
-//is called upon every new arrival of data in main
-void viconCallback(const d_fall_pps::ViconData& data){
-	//debugging
-	++callbackCalls;
-	//ROS_INFO("Callback called #%d",callbackCalls);
-	//ROS_INFO("Recived Pitch in this callback: %f", data.pitch);
-	//ROS_INFO("received data:"); ROS_INFO_STREAM(data);
-	//ROS_INFO("My teamname is:"); ROS_INFO_STREAM(team);
-	//ROS_INFO("My crazyflie is:"); ROS_INFO_STREAM(cflie);
-
-	//extract data from "data" and publish/add to service for controller
+//extract data from "data" and publish/add to service for controller
+//not void: sould give back controlldata
+void PPSClientToController(data){
 	if(data.crazyflieName == cflie){
+		/* unnecessairy: just send data!!!!!
 		d_fall_pps::ViconData myDataToPublish;
 		myDataToPublish.crazyflieName = data.crazyflieName;
 		myDataToPublish.x = data.x;
@@ -47,18 +47,42 @@ void viconCallback(const d_fall_pps::ViconData& data){
 		myDataToPublish.pitch = data.pitch;
 		myDataToPublish.yaw = data.yaw;
 		myDataToPublish.acquiringTime = data.acquiringTime;
-		//ROS_INFO("data to share with right controller:");
-		//ROS_INFO_STREAM(myDataToPublish);
+		*/
 
 
 		//TODO:
 		//Some way of choosing the correct controller: Safe or Custom
+		//using the area data
+
+		//TODO:
+		//communicating with Controller
+
+
+		//TODO:
+		//return control commands
 	}
 	else {
 		ROS_INFO("ViconData from other crazyflie received");
 	}
+}
 
 
+//debugging
+int callbackCalls = 0;
+
+//is called upon every new arrival of data in main
+void viconCallback(const d_fall_pps::ViconData& data){
+	//debugging
+	++callbackCalls;
+	//ROS_INFO("Callback called #%d",callbackCalls);
+	//ROS_INFO("Recived Pitch in this callback: %f", data.pitch);
+	//ROS_INFO("received data:"); ROS_INFO_STREAM(data);
+	//ROS_INFO("My teamname is:"); ROS_INFO_STREAM(team);
+	//ROS_INFO("My crazyflie is:"); ROS_INFO_STREAM(cflie);
+
+	//extract data from "data" and publish/add to service for controller
+	PPSClientToController(data);
+
 }
 
 int main(int argc, char* argv[]){
@@ -80,6 +104,18 @@ int main(int argc, char* argv[]){
 	ros::Subscriber ViconSubscriber = nodeHandle.subscribe("/ViconDataPublisher/ViconData", 1, viconCallback);
 	ROS_INFO_STREAM("subscribed");
 
+
+
+
+
+	//service: now only one available: to add several services depending on controller
+	rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateCommand");
+
+
+
+
+
+
     ros::spin();
     return 0;
 }

pps_ws/src/d_fall_pps/src/SafeControllerService.cpp

@@ -22,6 +22,9 @@
 
 bool calculateControlOutput(d_fall_pps::RateController::Request &request, d_fall_pps::RateController::Response &response) {
     ROS_INFO("calculate control output");
+    //add safeController
+
+    
 }
 
 int main(int argc, char* argv[]) {

pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp

@@ -14,6 +14,18 @@
 //    You should have received a copy of the GNU General Public License
 //    along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
+
+
+
+//TODO:
+//CentralManager: extract data about room from vicon data
+//CentralManager: assign area for each group and those coordinates to PPSClients
+//ViconDataPublisher: extract data about room from vicon data in and send also to PPSClient
+//PPSClient: Compare data received from CentralManager and ViconDataPublisher and determine in which area you are
+//PPSClient: Choose correct controller accoring to current area
+
+
+
 #include <string.h>
 #include "DataStreamClient.h"
 #include "ros/ros.h"