added CentralManagerService

pps_ws/src/d_fall_pps/CMakeLists.txt

@@ -62,6 +62,7 @@ add_message_files(
   AngleCommand.msg
   RateCommand.msg
   Setpoint.msg
+  CrazyflieContext.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -75,6 +76,7 @@ add_service_files(
   MotorController.srv
   AngleController.srv
   RateController.srv
+  CentralManager.srv
 )
 
 ## Generate actions in the 'action' folder
@@ -159,6 +161,7 @@ include_directories(
 add_executable(ViconDataPublisher src/ViconDataPublisher.cpp)
 add_executable(PPSClient src/PPSClient.cpp)
 add_executable(SafeControllerService src/SafeControllerService.cpp)
+add_executable(CentralManagerService src/CentralManagerService.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -184,6 +187,8 @@ target_link_libraries(PPSClient ${catkin_LIBRARIES})
 
 target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
 
+target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
+
 #############
 ## Install ##
 #############

pps_ws/src/d_fall_pps/msg/CrazyflieContext.msg

+string test

pps_ws/src/d_fall_pps/src/CentralManagerService.cpp

+//    The service that manages the context of the student groups.
+//    Copyright (C) 2017  Cyrill Burgener, Marco Mueller, Philipp Friedli
+//
+//    This program 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.
+//
+//    This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "ros/ros.h"
+#include "d_fall_pps/CrazyflieContext.h"
+#include "d_fall_pps/CentralManager.h"
+
+using namespace d_fall_pps;
+
+
+/*TODO:
+request from paul
+Specificy controller in a file
+
+
+
+*/
+
+bool returnCrazyflieContext(CentralManager::Request &request, CentralManager::Response &response) {
+    ROS_INFO("cnetal manager");
+
+	return true;
+}
+
+int main(int argc, char* argv[]) {
+    ros::init(argc, argv, "CentralManagerService");
+
+    ros::NodeHandle nodeHandle("~");
+
+    ros::ServiceServer service = nodeHandle.advertiseService("CentralManager", returnCrazyflieContext);
+    ROS_INFO("CentralManagerService ready");
+    ros::spin();
+
+    return 0;
+}

pps_ws/src/d_fall_pps/srv/CentralManager.srv

+string groupName
+---
+CrazyflieContext context
+