From 982ae9ad587994527d405d20dfdfa40035a445f4 Mon Sep 17 00:00:00 2001
From: roangel <roangel@student.ethz.ch>
Date: Tue, 22 Aug 2017 10:14:00 +0200
Subject: [PATCH] small details. Now try downstairs
---
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 1 +
.../GUI_Qt/studentGUI/src/rosNodeThread.cpp | 2 +-
pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py | 16 +++++++++-------
3 files changed, 11 insertions(+), 8 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index aa8a8130..534f96ed 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -33,4 +33,5 @@ void MainWindow::on_RF_Connect_button_clicked()
std_msgs::Int32 msg;
msg.data = CMD_RECONNECT;
crazyRadioCommandPublisher.publish(msg);
+ ROS_INFO("command reconnect published");
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp
index 72a2e5b5..e8a349ae 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp
@@ -72,7 +72,7 @@ void rosNodeThread::run()
// cmd_msg.linear.x = m_speed;
// cmd_msg.angular.z = m_angle;
pMutex->unlock();
- ROS_INFO("RUNNING");
+ // ROS_INFO("RUNNING");
// sim_velocity.publish(cmd_msg);
ros::spinOnce();
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index ad0c60f7..0c712613 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -83,7 +83,7 @@ class PPSRadioClient:
# Connect to the Crazyflie
print "Connecting to %s" % link_uri
- self.connect();
+ # self.connect();
def connect(self):
self.status = CONNECTING
@@ -163,11 +163,12 @@ class PPSRadioClient:
pk.data = struct.pack('<fffHHHHHH', roll * RAD_TO_DEG, pitch * RAD_TO_DEG, yaw * RAD_TO_DEG, thrust, cmd1, cmd2, cmd3, cmd4, mode)
self._cf.send_packet(pk)
- def crazyRadioCommandCallback(data):
+def crazyRadioCommandCallback(data):
"""Callback to tell CrazyRadio to reconnect"""
+ print "crazyRadio command received"
if data == CMD_RECONNECT: # reconnect, check status first and then do whatever needs to be done
- if self.status == DISCONNECTED:
- self.connect()
+ if cf_client.status == DISCONNECTED:
+ cf_client.connect()
def controlCommandCallback(data):
"""Callback for controller actions"""
@@ -194,15 +195,16 @@ if __name__ == '__main__':
rospy.loginfo("Crazyradio connecting to %s" % radio_address)
#use this following two lines to connect without data from CentralManager
- #radio_address = "radio://0/72/2M"
- #rospy.loginfo("manual address loaded")
+ # radio_address = "radio://0/72/2M"
+ # rospy.loginfo("manual address loaded")
+
global cfbattery_pub
cfbattery_pub = rospy.Publisher('cfbattery', Float32, queue_size=10)
global cf_client
cf_client = PPSRadioClient(radio_address)
- rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback)
+ rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, crazyRadioCommandCallback)
time.sleep(1.0)
--
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