diff --git a/.gitignore b/.gitignore
index 8b4d2f3d1dd56c435c2034481b9f8e5b2af0a8e4..47d7e8668a818bb6c8bc9664772af85c5175d1cd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,33 @@
pps_ws/build/
pps_ws/devel/
pps_ws/src/CMakeLists.txt
+
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/crtpstack.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/radiodriver.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/exceptions.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/__init__.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/crtpdriver.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/usbdriver.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/udpdriver.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/debugdriver.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/serialdriver.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/platformservice.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/param.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/commander.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/__init__.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/log.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/console.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toccache.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/mem.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toc.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/__init__.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/crazyradio.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/cfusb.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/__init__.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/utils/callbacks.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/utils/__init__.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/bootloader/boottypes.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/bootloader/__init__.pyc
+./pps_ws/src/d_fall_pps/crazyradio/cflib/bootloader/cloader.pyc
+./pps_ws/src/d_fall_pps/crazyradio/leapsdk/__init__.pyc
+
diff --git a/pps_ws/src/d_fall_gui/CMakeLists.txt b/pps_ws/src/d_fall_gui/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e291b71a36414d1f870d39692b74801e1a8c4ff
--- /dev/null
+++ b/pps_ws/src/d_fall_gui/CMakeLists.txt
@@ -0,0 +1,199 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(d_fall_gui)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+# add_definitions(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES d_fall_gui
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/d_fall_gui.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/d_fall_gui_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_d_fall_gui.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/pps_ws/src/d_fall_gui/package.xml b/pps_ws/src/d_fall_gui/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fe725eedbacd8e466e5e27fa4b61fb9828a1b1bd
--- /dev/null
+++ b/pps_ws/src/d_fall_gui/package.xml
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<package>
+ <name>d_fall_gui</name>
+ <version>0.0.0</version>
+ <description>The d_fall_gui package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="crazyflie@todo.todo">crazyflie</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/d_fall_gui</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>rospy</run_depend>
+ <run_depend>std_msgs</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 0550d2dc9c9f84ecbb5e9aa9cfdb3529cb542dde..e8cc07f1936cba7c48e33c96daec53baec72de24 100644
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -62,6 +62,8 @@ add_message_files(
AngleCommand.msg
RateCommand.msg
Setpoint.msg
+ CrazyflieContext.msg
+ AreaBounds.msg
)
## Generate services in the 'srv' folder
@@ -75,6 +77,7 @@ add_service_files(
MotorController.srv
AngleController.srv
RateController.srv
+ CentralManager.srv
)
## Generate actions in the 'action' folder
@@ -159,6 +162,7 @@ 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 +188,8 @@ target_link_libraries(PPSClient ${catkin_LIBRARIES})
target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
+target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
+
#############
## Install ##
#############
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/__init__.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/cfusb.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/cfusb.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/crazyradio.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/crazyradio.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/callbacks.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/callbacks.pyc
deleted file mode 100644
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/leapsdk/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/leapsdk/__init__.pyc
deleted file mode 100755
index e6513482535ac9c98b047a49e71c2c2a61f75aa9..0000000000000000000000000000000000000000
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diff --git a/pps_ws/src/d_fall_pps/launch/studentParams.yaml b/pps_ws/src/d_fall_pps/launch/studentParams.yaml
index a8384c2c4a8a161a1bfcdc6ee97b099681fd3b9a..739ad896c79613e1f29aa0c9997d1c38c3d79e7e 100644
--- a/pps_ws/src/d_fall_pps/launch/studentParams.yaml
+++ b/pps_ws/src/d_fall_pps/launch/studentParams.yaml
@@ -1,6 +1,10 @@
TeamName: 'Two'
CrazyFlieName: "cfTwo"
CrazyFlieAddress: "radio://0/99/2M"
+SafeController: ""
+SafeControllerType: ""
+CustomController: ""
+CustomControllerType: ""
#controllertypes to add with adjustable
#motor, angle and rate
diff --git a/pps_ws/src/d_fall_pps/msg/AreaBounds.msg b/pps_ws/src/d_fall_pps/msg/AreaBounds.msg
new file mode 100755
index 0000000000000000000000000000000000000000..4230649fcaf859ca7391a10e637bbf1a255bbc01
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/msg/AreaBounds.msg
@@ -0,0 +1,7 @@
+float32 xmin
+float32 xmax
+float32 ymin
+float32 ymax
+float32 zmin
+float32 zmax
+
diff --git a/pps_ws/src/d_fall_pps/msg/CrazyflieContext.msg b/pps_ws/src/d_fall_pps/msg/CrazyflieContext.msg
new file mode 100755
index 0000000000000000000000000000000000000000..87df011ced8a56f0fa83aec3a4207af53fb7a232
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/msg/CrazyflieContext.msg
@@ -0,0 +1 @@
+AreaBounds localArea
diff --git a/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2cb409def71d7f60f688b5bf55d9646d7b9a5a08
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
@@ -0,0 +1,46 @@
+// 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;
+
+
+//receive request from students (containing (maybe among other things) their name)
+//send them back the CrazyflieContext (containing (maybe among other things) the area to fly in)
+bool returnCrazyflieContext(CentralManager::Request &request, CentralManager::Response &response) {
+ ROS_INFO("central 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;
+}
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 7f24b704a3672d5b3b347d436c3c1ae116f68235..276b2824ed9b03658e5f16a24c3c8dddb83bd52d 100644
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -29,6 +29,8 @@
#include "d_fall_pps/AngleCommand.h"
#include "d_fall_pps/RateCommand.h"
#include "d_fall_pps/MotorCommand.h"
+#include "d_fall_pps/CrazyflieContext.h"
+
using namespace d_fall_pps;
@@ -47,23 +49,18 @@ ros::Publisher motorCommandPublisher;
//ros::NodeHandle nodeHandle;
+//acceptance test for crazyflie position and attitude
+bool safetyCheck(ViconData data){
+ CrazyflieContext CrazyflieContext;
+
+ return true;
+}
+
+
//extract data from "data" and publish/add to service for controller
//not void: sould give back controlldata
-void ppsClientToController(ViconData data){
+void ppsClientToController(ViconData data, bool autocontrol){
if(data.crazyflieName == cflie){
- /* unnecessairy: just send data!!!!!
- d_fall_pps::ViconData myDataToPublish;
- myDataToPublish.crazyflieName = data.crazyflieName;
- myDataToPublish.x = data.x;
- myDataToPublish.y = data.y;
- myDataToPublish.z = data.z;
- myDataToPublish.roll = data.roll;
- myDataToPublish.pitch = data.pitch;
- myDataToPublish.yaw = data.yaw;
- myDataToPublish.acquiringTime = data.acquiringTime;
- */
-
-
//TODO:
//Some way of choosing the correct controller: Safe or Custom
//using the area data
@@ -106,13 +103,15 @@ 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 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);
+ //forward data to safety check
+ bool autocontrolOn = safetyCheck(data);
+
+ ppsClientToController(data, autocontrolOn);
}
@@ -192,9 +191,9 @@ int main(int argc, char* argv[]){
//ros::Publishers to advertise on the three command type topics
- angleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("AngleCommand", 1000);
- rateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("RateCommand", 1000);
- motorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("MotorCommand", 1000);
+ angleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("AngleCommand", 1);
+ rateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("RateCommand", 1);
+ motorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("MotorCommand", 1);
//service: now only one available: to add several services depending on controller
diff --git a/pps_ws/src/d_fall_pps/srv/CentralManager.srv b/pps_ws/src/d_fall_pps/srv/CentralManager.srv
new file mode 100644
index 0000000000000000000000000000000000000000..780867bac47e18592c9e0c60334c776641698983
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/srv/CentralManager.srv
@@ -0,0 +1,4 @@
+string crazyflieName
+---
+CrazyflieContext context
+