diff --git a/dfall_ws/src/dfall_pkg/CMakeLists.txt b/dfall_ws/src/dfall_pkg/CMakeLists.txt
index b2848be89c640c47c1939afc1626a92209efec77..1c4d9be33e6baf59676aa28724071a289fca1df0 100755
--- a/dfall_ws/src/dfall_pkg/CMakeLists.txt
+++ b/dfall_ws/src/dfall_pkg/CMakeLists.txt
@@ -281,6 +281,7 @@ add_message_files(
add_service_files(
FILES
IntIntService.srv
+ IntStringService.srv
Controller.srv
CMRead.srv
CMQuery.srv
@@ -393,42 +394,43 @@ endif()
# add_executable(${PROJECT_NAME}_node src/dfall_pkg_node.cpp)
if(VICON_LIBRARY)
- add_executable(ViconDataPublisher src/nodes/ViconDataPublisher.cpp)
+ add_executable(ViconDataPublisher src/nodes/ViconDataPublisher.cpp)
endif()
-add_executable(FlyingAgentClient src/nodes/FlyingAgentClient.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(BatteryMonitor src/nodes/BatteryMonitor.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(CrazyRadioEmulator src/nodes/CrazyRadioEmulator.cpp
- src/classes/QuadrotorSimulator.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(CsoneControllerService src/nodes/CsoneControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(DefaultControllerService src/nodes/DefaultControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-# add_executable(SafeControllerService src/nodes/SafeControllerService.cpp)
-# add_executable(DemoControllerService src/nodes/DemoControllerService.cpp
-# src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(StudentControllerService src/nodes/StudentControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-# add_executable(MpcControllerService src/nodes/MpcControllerService.cpp)
-add_executable(RemoteControllerService src/nodes/RemoteControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(TuningControllerService src/nodes/TuningControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(PickerControllerService src/nodes/PickerControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(TemplateControllerService src/nodes/TemplateControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(FlyingAgentClient src/nodes/FlyingAgentClient.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(AgentStatusForWebInterface src/nodes/AgentStatusForWebInterface.cpp)
+add_executable(BatteryMonitor src/nodes/BatteryMonitor.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(CrazyRadioEmulator src/nodes/CrazyRadioEmulator.cpp
+ src/classes/QuadrotorSimulator.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(CsoneControllerService src/nodes/CsoneControllerService.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(DefaultControllerService src/nodes/DefaultControllerService.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+# add_executable(SafeControllerService src/nodes/SafeControllerService.cpp)
+# add_executable(DemoControllerService src/nodes/DemoControllerService.cpp
+# src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(StudentControllerService src/nodes/StudentControllerService.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+# add_executable(MpcControllerService src/nodes/MpcControllerService.cpp)
+add_executable(RemoteControllerService src/nodes/RemoteControllerService.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(TuningControllerService src/nodes/TuningControllerService.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(PickerControllerService src/nodes/PickerControllerService.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(TemplateControllerService src/nodes/TemplateControllerService.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
add_executable(TestMotorsControllerService src/nodes/TestMotorsControllerService.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
-add_executable(CentralManagerService src/nodes/CentralManagerService.cpp src/classes/CrazyflieIO.cpp)
-add_executable(ParameterService src/nodes/ParameterService.cpp)
+ src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(CentralManagerService src/nodes/CentralManagerService.cpp src/classes/CrazyflieIO.cpp)
+add_executable(ParameterService src/nodes/ParameterService.cpp)
-add_executable(MocapEmulator src/nodes/MocapEmulator.cpp
- src/classes/QuadrotorSimulator.cpp
- src/classes/GetParamtersAndNamespaces.cpp)
+add_executable(MocapEmulator src/nodes/MocapEmulator.cpp
+ src/classes/QuadrotorSimulator.cpp
+ src/classes/GetParamtersAndNamespaces.cpp)
@@ -496,24 +498,25 @@ if(VICON_LIBRARY)
add_dependencies(ViconDataPublisher dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
endif()
-add_dependencies(FlyingAgentClient dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(BatteryMonitor dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(CrazyRadioEmulator dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(CsoneControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(DefaultControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-# add_dependencies(SafeControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-# add_dependencies(DemoControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(StudentControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-# add_dependencies(MpcControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(RemoteControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(TuningControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(PickerControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(TemplateControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(FlyingAgentClient dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(AgentStatusForWebInterface dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(BatteryMonitor dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(CrazyRadioEmulator dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(CsoneControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(DefaultControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+# add_dependencies(SafeControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+# add_dependencies(DemoControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(StudentControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+# add_dependencies(MpcControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(RemoteControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(TuningControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(PickerControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(TemplateControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(TestMotorsControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(CentralManagerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(ParameterService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(CentralManagerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(ParameterService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(MocapEmulator dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(MocapEmulator dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
@@ -550,28 +553,29 @@ if(VICON_LIBRARY)
target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
endif()
-target_link_libraries(FlyingAgentClient ${catkin_LIBRARIES})
-target_link_libraries(BatteryMonitor ${catkin_LIBRARIES})
-target_link_libraries(CrazyRadioEmulator ${catkin_LIBRARIES})
-target_link_libraries(CsoneControllerService ${catkin_LIBRARIES})
-target_link_libraries(DefaultControllerService ${catkin_LIBRARIES})
-# target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
-# target_link_libraries(DemoControllerService ${catkin_LIBRARIES})
-target_link_libraries(StudentControllerService ${catkin_LIBRARIES})
+target_link_libraries(FlyingAgentClient ${catkin_LIBRARIES})
+target_link_libraries(AgentStatusForWebInterface ${catkin_LIBRARIES})
+target_link_libraries(BatteryMonitor ${catkin_LIBRARIES})
+target_link_libraries(CrazyRadioEmulator ${catkin_LIBRARIES})
+target_link_libraries(CsoneControllerService ${catkin_LIBRARIES})
+target_link_libraries(DefaultControllerService ${catkin_LIBRARIES})
+# target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
+# target_link_libraries(DemoControllerService ${catkin_LIBRARIES})
+target_link_libraries(StudentControllerService ${catkin_LIBRARIES})
# if(Eigen3_FOUND)
-# target_link_libraries(MpcControllerService ${catkin_LIBRARIES} Eigen3::Eigen)
+# target_link_libraries(MpcControllerService ${catkin_LIBRARIES} Eigen3::Eigen)
# else()
-# target_link_libraries(MpcControllerService ${catkin_LIBRARIES})
+# target_link_libraries(MpcControllerService ${catkin_LIBRARIES})
# endif()
-target_link_libraries(RemoteControllerService ${catkin_LIBRARIES})
-target_link_libraries(TuningControllerService ${catkin_LIBRARIES})
-target_link_libraries(PickerControllerService ${catkin_LIBRARIES})
-target_link_libraries(TemplateControllerService ${catkin_LIBRARIES})
+target_link_libraries(RemoteControllerService ${catkin_LIBRARIES})
+target_link_libraries(TuningControllerService ${catkin_LIBRARIES})
+target_link_libraries(PickerControllerService ${catkin_LIBRARIES})
+target_link_libraries(TemplateControllerService ${catkin_LIBRARIES})
target_link_libraries(TestMotorsControllerService ${catkin_LIBRARIES})
-target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
-target_link_libraries(ParameterService ${catkin_LIBRARIES})
+target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
+target_link_libraries(ParameterService ${catkin_LIBRARIES})
-target_link_libraries(MocapEmulator ${catkin_LIBRARIES})
+target_link_libraries(MocapEmulator ${catkin_LIBRARIES})
if(Qt5_FOUND)
diff --git a/dfall_ws/src/dfall_pkg/include/nodes/AgentStatusForWebInterface.h b/dfall_ws/src/dfall_pkg/include/nodes/AgentStatusForWebInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..2f9724babdcaeaab82766a7b4a2905f335c0176c
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/include/nodes/AgentStatusForWebInterface.h
@@ -0,0 +1,152 @@
+// Copyright (C) 2019, ETH Zurich, D-ITET, Paul Beuchat
+//
+// 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:
+// The service that provides data to the web interface
+//
+// ----------------------------------------------------------------------------------
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// 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 <iostream>
+#include <string>
+
+#include <ros/ros.h>
+#include <ros/package.h>
+#include <ros/network.h>
+
+// Include the standard message types
+#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+#include "dfall_pkg/SetpointWithHeader.h"
+
+// Include the DFALL service types
+#include "dfall_pkg/IntStringService.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+//#include "classes/GetParamtersAndNamespaces.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+using namespace dfall_pkg;
+//using namespace std;
+
+
+
+// ----------------------------------------------------------------------------------
+// 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
+// ----------------------------------------------------------------------------------
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// 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
+// ----------------------------------------------------------------------------------
+
+
+// The crazyradio status
+// > as received via messages
+int m_crazyradio_status = CRAZY_RADIO_STATE_DISCONNECTED;
+
+// The flying state of the agent
+// > as received via messages
+int m_agent_operating_state = STATE_UNAVAILABLE;
+
+// The instant controller,
+// > as received via messages
+int m_instant_controller = DEFAULT_CONTROLLER;
+
+// The battery level
+// > as received via messages
+int m_battery_level = BATTERY_LEVEL_UNAVAILABLE;
+
+// The setpoint of the default controller
+// > as received via messages
+float m_setpoint_default[4] = {0.0,0.0,0.4,0.0};
+
+// The setpoint of the student controller
+// > as received via messages
+float m_setpoint_student[4] = {0.0,0.0,0.4,0.0};
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// 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
+// ----------------------------------------------------------------------------------
+
+
+// Callbacks for messages with the status of things:
+// > For the status of the crazyradio
+void crazyRadioStatusCallback(const std_msgs::Int32& msg);
+// > For the flying state of the agent
+void agentOperatingStateCallback(const std_msgs::Int32& msg);
+// > For the instant controller
+void instantControllerChangedCallback(const std_msgs::Int32& msg);
+// > For the battery level
+void newBatteryLevelCallback(const std_msgs::Int32& msg);
+// > For the Default Controller Setpoint
+void defaultControllerSetpointChangedCallback(const SetpointWithHeader& newSetpoint);
+// > For the Student Controller Setpoint
+void studentControllerSetpointChangedCallback(const SetpointWithHeader& newSetpoint);
+
+// Service callback for providing status to the Web Interface
+bool statusForWebInterfaceCallback(IntStringService::Request &request, IntStringService::Response &response);
\ No newline at end of file
diff --git a/dfall_ws/src/dfall_pkg/launch/agent.launch b/dfall_ws/src/dfall_pkg/launch/agent.launch
index f613b0e7def089bf6e3b89dd116e5a503071fd78..0ed62bb46297b6ae7a1b30cb2974fcc45f5bd8bc 100755
--- a/dfall_ws/src/dfall_pkg/launch/agent.launch
+++ b/dfall_ws/src/dfall_pkg/launch/agent.launch
@@ -217,6 +217,15 @@
/>
</node>
</group>
+
+ <!-- AGENT STATUS FOR WEB INTERFACE -->
+ <node
+ pkg = "dfall_pkg"
+ name = "AgentStatusForWebInterface"
+ output = "screen"
+ type = "AgentStatusForWebInterface"
+ >
+ </node>
</group>
diff --git a/dfall_ws/src/dfall_pkg/launch/pi_agent.launch b/dfall_ws/src/dfall_pkg/launch/pi_agent.launch
index a4e6f97e40a38b23e96a065b0a89909d201554a2..e54ae35197193d785326dce1ac3a01ab49bda64e 100755
--- a/dfall_ws/src/dfall_pkg/launch/pi_agent.launch
+++ b/dfall_ws/src/dfall_pkg/launch/pi_agent.launch
@@ -139,6 +139,15 @@
/>
</node>
+ <!-- AGENT STATUS FOR WEB INTERFACE -->
+ <node
+ pkg = "dfall_pkg"
+ name = "AgentStatusForWebInterface"
+ output = "screen"
+ type = "AgentStatusForWebInterface"
+ >
+ </node>
+
</group>
</launch>
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/AgentStatusForWebInterface.cpp b/dfall_ws/src/dfall_pkg/src/nodes/AgentStatusForWebInterface.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..aae072edc5f574f3f0181bb66b62c7294f149c40
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/src/nodes/AgentStatusForWebInterface.cpp
@@ -0,0 +1,219 @@
+// Copyright (C) 2019, ETH Zurich, D-ITET, Paul Beuchat
+//
+// 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:
+// The service that provides data to the web interface
+//
+// ----------------------------------------------------------------------------------
+
+
+
+
+
+// INCLUDE THE HEADER
+#include "nodes/AgentStatusForWebInterface.h"
+
+
+
+
+
+
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// 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
+//
+// III M M PPPP L EEEEE M M EEEEE N N TTTTT A TTTTT III OOO N N
+// I MM MM P P L E MM MM E NN N T A A T I O O NN N
+// I M M M PPPP L EEE M M M EEE N N N T A A T I O O N N N
+// I M M P L E M M E N NN T AAAAA T I O O N NN
+// III M M P LLLLL EEEEE M M EEEEE N N T A A T III OOO N N
+// ----------------------------------------------------------------------------------
+
+
+
+// CALLBACKS FOR MESSAGES WITH THE STATUS OF THINGS
+
+// > For the status of the crazyradio
+void crazyRadioStatusCallback(const std_msgs::Int32& msg)
+{
+ m_crazyradio_status = msg.data;
+}
+
+
+// > For the flying state of the agent
+void agentOperatingStateCallback(const std_msgs::Int32& msg)
+{
+ m_agent_operating_state = msg.data;
+}
+
+// > For the instant controller
+void instantControllerChangedCallback(const std_msgs::Int32& msg)
+{
+ m_instant_controller = msg.data;
+}
+
+// > For the battery level
+void newBatteryLevelCallback(const std_msgs::Int32& msg)
+{
+ m_battery_level = msg.data;
+}
+
+// > For the Default Controller Setpoint
+void defaultControllerSetpointChangedCallback(const SetpointWithHeader& newSetpoint)
+{
+ m_setpoint_default[0] = newSetpoint.x;
+ m_setpoint_default[1] = newSetpoint.y;
+ m_setpoint_default[2] = newSetpoint.z;
+ m_setpoint_default[3] = newSetpoint.yaw;
+}
+
+// > For the Student Controller Setpoint
+void studentControllerSetpointChangedCallback(const SetpointWithHeader& newSetpoint)
+{
+ m_setpoint_student[0] = newSetpoint.x;
+ m_setpoint_student[1] = newSetpoint.y;
+ m_setpoint_student[2] = newSetpoint.z;
+ m_setpoint_student[3] = newSetpoint.yaw;
+}
+
+
+
+
+
+// SERVICE CALLBACK FOR PROVIDING STATUS TO THE WEB INTERFACE
+bool statusForWebInterfaceCallback(IntStringService::Request &request, IntStringService::Response &response)
+{
+ // Concatenate the json together using a string stream
+ std::stringstream ss;
+ ss << "{\"crazyradiostatus\": \"" << m_crazyradio_status << "\"}";
+ std::string s = ss.str();
+ // Put the string into the response
+ //response.data = "test of service for web interface";
+ //response.data = "{\"crazyradiostatus\": \"%d\"}", m_crazyradio_status;
+ response.data = ss.str();
+
+ // Return success
+ return true;
+}
+
+
+
+
+// ----------------------------------------------------------------------------------
+// M M A III N N
+// MM MM A A I NN N
+// M M M A A I N N N
+// M M AAAAA I N NN
+// M M A A III N N
+// ----------------------------------------------------------------------------------
+
+int main(int argc, char* argv[])
+{
+ // Starting the ROS-node
+ ros::init(argc, argv, "AgentStatusForWebInterface");
+
+ // Create a "ros::NodeHandle" type local variable "nodeHandle"
+ // as the current node, the "~" indcates that "self" is the
+ // node handle assigned to this variable.
+ ros::NodeHandle nodeHandle("~");
+
+ // Get the namespace of this "AgentStatusForWebInterface" node
+ std::string m_namespace = ros::this_node::getNamespace();
+ ROS_INFO_STREAM("[AGENT STATUS FOR WEB INTERFACE] ros::this_node::getNamespace() = " << m_namespace);
+
+
+
+
+
+ // SUBSCRIBERS
+
+ // FOR THE CRAZY RADIO STATUS:
+ // > Get a node handle to the Crazy Radio
+ std::string namespace_to_crazyradio = m_namespace + "/CrazyRadio";
+ ros::NodeHandle nodeHandle_to_crazyradio(namespace_to_crazyradio);
+ // > Subscribe to the topic
+ ros::Subscriber crazyRadioStatusSubscriber = nodeHandle_to_crazyradio.subscribe("CrazyRadioStatus", 1, crazyRadioStatusCallback);
+
+ // FOR THE FLYING STATE OF THE AGENT
+ // > Get a node handle to the Flying Agent Client
+ std::string namespace_to_FlyingAgentClient = m_namespace + "/FlyingAgentClient";
+ ros::NodeHandle nodeHandle_to_FlyingAgentClient(namespace_to_FlyingAgentClient);
+ // > Subscribe to the topic
+ ros::Subscriber agentOperatingStateSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("FlyingState", 1, agentOperatingStateCallback);
+
+ // FOR THE INSTANT CONTROLLER
+ // > Subscribe to the topic
+ ros::Subscriber instantControllerSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("ControllerUsed", 1, instantControllerChangedCallback);
+
+ // FOR THE BATTERY LEVEL
+ // > Get a node handle to the Battery Monitor
+ std::string namespace_to_BatteryMonitor = m_namespace + "/BatteryMonitor";
+ ros::NodeHandle nodeHandle_to_BatteryMonitor(namespace_to_BatteryMonitor);
+ // > Subscribe to the topic
+ ros::Subscriber newBatteryLevelSubscriber = nodeHandle_to_BatteryMonitor.subscribe("Level", 1, newBatteryLevelCallback);
+
+ // FOR THE DEFAULT CONTROLLER SETPOINT
+ // > Get a node handle to the Default Controller Service
+ std::string namespace_to_DefaultController = m_namespace + "/DefaultControllerService";
+ ros::NodeHandle nodeHandle_to_DefaultController(namespace_to_DefaultController);
+ // > Subscribe to the topic
+ ros::Subscriber defaultControllerSetpointChangedSubscriber = nodeHandle_to_DefaultController.subscribe("SetpointChanged", 1, defaultControllerSetpointChangedCallback);
+
+ // FOR THE STUDENT CONTROLLER SETPOINT
+ // > Get a node handle to the Student Controller Service
+ std::string namespace_to_StudentController = m_namespace + "/StudentControllerService";
+ ros::NodeHandle nodeHandle_to_StudentController(namespace_to_StudentController);
+ // > Subscribe to the topic
+ ros::Subscriber stuentControllerSetpointChangedSubscriber = nodeHandle_to_StudentController.subscribe("SetpointChanged", 1, studentControllerSetpointChangedCallback);
+
+
+
+
+
+ // SERVICE SERVERS
+
+ // Service callback for provide status to the Web Interface
+ ros::ServiceServer statusForWebInterfaceService = nodeHandle.advertiseService("StatusAsJson", statusForWebInterfaceCallback);
+
+
+
+
+
+ // Inform the user the this node is ready
+ ROS_INFO("[AGENT STATUS FOR WEB INTERFACE] Ready :-)");
+ // Spin as a single-thread node
+ ros::spin();
+
+ return 0;
+}
diff --git a/dfall_ws/src/dfall_pkg/srv/IntStringService.srv b/dfall_ws/src/dfall_pkg/srv/IntStringService.srv
new file mode 100644
index 0000000000000000000000000000000000000000..0c46a893757e9e93c86d10bb798cc6e37d357532
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/srv/IntStringService.srv
@@ -0,0 +1,3 @@
+uint32 data
+---
+string data
\ No newline at end of file