#include <ControlNode.h>

Public Member Functions
void	comCb (const std_msgs::StringConstPtr str)
	ControlNode ()
void	droneposeCb (const uga_tum_ardrone::filter_stateConstPtr statePtr)
void	dynConfCb (uga_tum_ardrone::AutopilotParamsConfig &config, uint32_t level)
void	Loop ()
void	publishCommand (std::string c)
void	sendControlToDrone (ControlCommand cmd)
void	sendLand ()
void	sendTakeoff ()
void	sendToggleState ()
void	toogleLogging ()
	~ControlNode ()
Public Attributes
DroneController	controller
long	currentLogID
ControlCommand	hoverCommand
bool	isControlling
long	lastControlSentMS
std::ofstream *	logfileControl
long	startedLogClock
Static Public Attributes
static pthread_mutex_t	logControl_CS = PTHREAD_MUTEX_INITIALIZER
Private Member Functions
bool	clear (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	clearCommands ()
bool	hover (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	lockScaleFP (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	popNextCommand (const uga_tum_ardrone::filter_stateConstPtr statePtr)
void	reSendInfo ()
bool	setInitialReachDistance (uga_tum_ardrone::SetInitialReachDistance::Request &, uga_tum_ardrone::SetInitialReachDistance::Response &)
bool	setMaxControl (uga_tum_ardrone::SetMaxControl::Request &, uga_tum_ardrone::SetMaxControl::Response &)
bool	setReference (uga_tum_ardrone::SetReference::Request &, uga_tum_ardrone::SetReference::Response &)
bool	setStayTime (uga_tum_ardrone::SetStayTime::Request &, uga_tum_ardrone::SetStayTime::Response &)
bool	setStayWithinDistance (uga_tum_ardrone::SetStayWithinDistance::Request &, uga_tum_ardrone::SetStayWithinDistance::Response &)
bool	start (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	startControl ()
bool	stop (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	stopControl ()
void	updateControl (const uga_tum_ardrone::filter_stateConstPtr statePtr)
Private Attributes
char	buf [500]
ros::ServiceServer	clearCommands_
std::string	command_channel
std::deque< std::string >	commandQueue
std::string	control_channel
KIProcedure *	currentKI
std::string	dronepose_channel
ros::Subscriber	dronepose_sub
ros::ServiceServer	hover_
std::string	land_channel
ros::Publisher	land_pub
ControlCommand	lastSentControl
ros::ServiceServer	lockScaleFP_
int	minPublishFreq
ros::NodeHandle	nh_
std::string	packagePath
double	parameter_InitialReachDist
double	parameter_MaxControl
DronePosition	parameter_referenceZero
double	parameter_StayTime
double	parameter_StayWithinDist
ros::ServiceServer	setInitialReachDistance_
ros::ServiceServer	setMaxControl_
ros::ServiceServer	setReference_
ros::ServiceServer	setStayTime_
ros::ServiceServer	setStayWithinDistance_
ros::ServiceServer	startControl_
ros::ServiceServer	stopControl_
std::string	takeoff_channel
ros::Publisher	takeoff_pub
std::string	toggleState_channel
ros::Publisher	toggleState_pub
ros::Publisher	uga_tum_ardrone_pub
ros::Subscriber	uga_tum_ardrone_sub
ros::Publisher	vel_pub
Static Private Attributes
static pthread_mutex_t	commandQueue_CS = PTHREAD_MUTEX_INITIALIZER
static pthread_mutex_t	uga_tum_ardrone_CS = PTHREAD_MUTEX_INITIALIZER

Detailed Description

Definition at line 49 of file ControlNode.h.

Constructor & Destructor Documentation

ControlNode::ControlNode ( )

Definition at line 48 of file ControlNode.cpp.

ControlNode::~ControlNode ( )

Definition at line 112 of file ControlNode.cpp.

Member Function Documentation

bool ControlNode::clear	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 600 of file ControlNode.cpp.

void ControlNode::clearCommands ( ) [private]

Definition at line 539 of file ControlNode.cpp.

void ControlNode::comCb ( const std_msgs::StringConstPtr str )

Definition at line 314 of file ControlNode.cpp.

void ControlNode::droneposeCb ( const uga_tum_ardrone::filter_stateConstPtr statePtr )

Definition at line 118 of file ControlNode.cpp.

void ControlNode::dynConfCb	(	uga_tum_ardrone::AutopilotParamsConfig &	config,
		uint32_t	level
	)

Definition at line 377 of file ControlNode.cpp.

bool ControlNode::hover	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 606 of file ControlNode.cpp.

bool ControlNode::lockScaleFP	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)		`[private]`

Definition at line 612 of file ControlNode.cpp.

void ControlNode::Loop ( )

Definition at line 348 of file ControlNode.cpp.

void ControlNode::popNextCommand ( const uga_tum_ardrone::filter_stateConstPtr statePtr ) [private]

Definition at line 147 of file ControlNode.cpp.

void ControlNode::publishCommand ( std::string c )

Definition at line 395 of file ControlNode.cpp.

void ControlNode::reSendInfo ( ) [private]

Definition at line 494 of file ControlNode.cpp.

void ControlNode::sendControlToDrone ( ControlCommand cmd )

Definition at line 459 of file ControlNode.cpp.

void ControlNode::sendLand ( )

Definition at line 479 of file ControlNode.cpp.

void ControlNode::sendTakeoff ( )

Definition at line 484 of file ControlNode.cpp.

void ControlNode::sendToggleState ( )

Definition at line 489 of file ControlNode.cpp.

bool ControlNode::setInitialReachDistance	(	uga_tum_ardrone::SetInitialReachDistance::Request &	,
		uga_tum_ardrone::SetInitialReachDistance::Response &
	)		`[private]`

Definition at line 566 of file ControlNode.cpp.

bool ControlNode::setMaxControl	(	uga_tum_ardrone::SetMaxControl::Request &	,
		uga_tum_ardrone::SetMaxControl::Response &
	)		`[private]`

Definition at line 558 of file ControlNode.cpp.

bool ControlNode::setReference	(	uga_tum_ardrone::SetReference::Request &	,
		uga_tum_ardrone::SetReference::Response &
	)		`[private]`

Definition at line 550 of file ControlNode.cpp.

bool ControlNode::setStayTime	(	uga_tum_ardrone::SetStayTime::Request &	,
		uga_tum_ardrone::SetStayTime::Response &
	)		`[private]`

Definition at line 581 of file ControlNode.cpp.

bool ControlNode::setStayWithinDistance	(	uga_tum_ardrone::SetStayWithinDistance::Request &	,
		uga_tum_ardrone::SetStayWithinDistance::Response &
	)		`[private]`