From ec56851ae1a722df456a22d74396a47be9fc96d3 Mon Sep 17 00:00:00 2001
From: muelmarc <muelmarc@student.ethz.ch>
Date: Thu, 6 Apr 2017 11:43:24 +0200
Subject: [PATCH] frame for safety check
---
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 18 +++++++++++++++---
1 file changed, 15 insertions(+), 3 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 7f24b704..b4665592 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;
@@ -47,9 +49,17 @@ 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;
@@ -111,8 +121,10 @@ void viconCallback(const d_fall_pps::ViconData& 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);
}
--
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