Merge branch 'pps_project' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into pps_project

pps_ws/src/d_fall_pps/launch/studentParams.yaml

 TeamName: 'Two'
 CrazyFlieName: "cfTwo"
 CrazyFlieAddress: "radio://0/99/2M"
+SafeController: ""
+SafeControllerType: ""
+CustomController: ""
+CustomControllerType: ""
 
 #controllertypes to add with adjustable
 #motor, angle and rate

pps_ws/src/d_fall_pps/msg/AreaBounds.msg

+float32 xmin
+float32 xmax
+float32 ymin
+float32 ymax
+float32 zmin
+float32 zmax
+

pps_ws/src/d_fall_pps/msg/CrazyflieContext.msg

+AreaBounds localArea

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;
+
+
+//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;
+}

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

pps_ws/src/d_fall_pps/srv/CentralManager.srv

+string crazyflieName
+---
+CrazyflieContext context
+