DroneSwarm.cpp

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/*
BSD 2-Clause License

Copyright (c) 2019, Simranjeet Singh
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <edrone_client/edrone_services.h>
#include <geometry_msgs/PoseArray.h>
#include <sys/time.h>
#include <boost/thread.hpp>
#include <boost/chrono.hpp>
#include <pthread.h>
#include <unistd.h>
#include <eyantra_drone/Common.h>
#include <eyantra_drone/Protocol.h>
#include <edrone_client/edrone_msgs.h>
#include <stdlib.h>

#include <string>

#define PORT 23

using namespace std;


bool isSocketCreate=false;

Communication com;
Protocol pro;

ros::ServiceClient serviceClient;
edrone_client::edrone_services service[2];

//9 elements for drone index connected in the network
int userRC[9]={1500,1500,1500,1500,1000,1000,1000,1000,0};

//vector of all string ips
vector <string> all_ips;

struct ip_struct
{
  int index;
  std::string ip;
};

void *createSocket(void *arg){
  
  struct ip_struct local_var = *(struct ip_struct *)arg;
  //cout<<local_ip.ip;
  isSocketCreate=com.connectMulSock(local_var.ip, local_var.index);
  pthread_exit(NULL);
};

void *writeFunction(void *threadid){

  std::vector<int> requests;
  requests.push_back(MSP_RC);
  requests.push_back(MSP_ATTITUDE);
  requests.push_back(MSP_RAW_IMU);
  requests.push_back(MSP_ALTITUDE);

  while(1)
  {
    pro.sendMulRequestMSP_SET_RAW_RC(userRC);
    pro.sendMulRequestMSP_GET_DEBUG(requests, userRC[8]);
    usleep(22000);
  }
  pthread_exit(NULL);
}

void *readFunction(void *threadid){
  do 
  {
    com.readFrame();
    //usleep(5);
  }
  while(1);
  pthread_exit(NULL);
}

void *readMulFunction(void *arg){

  struct ip_struct local_var = *(struct ip_struct *)arg;
  do 
  {
    com.readMulFrame(local_var.index);
    //usleep(5);
  }
  while(1);
  pthread_exit(NULL);
}

void *serviceFunction(void *arg){
  struct ip_struct local_var = *(struct ip_struct *)arg;
  while (1) 
  {
    if (serviceClient.call(service[local_var.index]))
    {
      service[local_var.index].request.accX=accX;
      service[local_var.index].request.accY=accY;
      service[local_var.index].request.accZ=accZ;
      service[local_var.index].request.gyroX=gyroX;
      service[local_var.index].request.gyroY=gyroY;
      service[local_var.index].request.gyroZ=gyroZ;
      service[local_var.index].request.magX=magX;
      service[local_var.index].request.magY=magY;
      service[local_var.index].request.magZ=magZ;
      service[local_var.index].request.roll=roll;
      service[local_var.index].request.pitch=pitch;
      service[local_var.index].request.yaw=yaw;
      service[local_var.index].request.alt=alt;
    }
  }
 pthread_exit(NULL);
}

void Callback(const edrone_client::edrone_msgs::ConstPtr& msg){
 userRC[0] = msg->rcRoll;
 userRC[1] = msg->rcPitch;
 userRC[2] = msg->rcThrottle;
 userRC[3] = msg->rcYaw;
 userRC[4] = msg->rcAUX1;
 userRC[5] = msg->rcAUX2;
 userRC[6] = msg->rcAUX3;
 userRC[7] = msg->rcAUX4;
 userRC[8] = msg->droneIndex;
 // cout << "roll = " << userRC[0] << "pitch = " <<userRC[1] << "Throttle = "<< userRC[2]  << endl;
}

int main(int argc, char **argv){
  
  ros::init(argc, argv, "droneswarm");

  //add IPs here  
  all_ips.push_back("192.168.43.151");
  //all_ips.push_back("192.168.43.249");  
  //all_ips.push_back("");

  unsigned int i = 0;
  
  //struct to pass to create thread
  struct ip_struct ipStructVar;
  
  //Topic name. Index gets appended in for loop
  char topic_name[] = "drone_command/ ";
  char service_name[] = "droneService ";

  ros::NodeHandle n;

  ros::Subscriber sub[all_ips.size()];

  //create thread
  pthread_t tds[all_ips.size()];
  //read thread
  pthread_t rds[all_ips.size()];
  //write thread
  pthread_t wds[all_ips.size()];
  //service thread
  pthread_t sds[all_ips.size()];

  int rc;
    
  for(i = 0; i < all_ips.size(); i++){
    cout<<"Start";
    
    //Add an index to the topic
    topic_name[strlen(topic_name)-1] = 0x30+i;
    //Add an index to the service
    service_name[strlen(service_name)-1] = 0x30+i;
    
    //Multiple topics is not really required since a single callback is being used
    //and droneMsg is modified to identify the drone by index starting from 0.
    //However, I've placed it to make it user friendly, because people are stupid!
    sub[i] = n.subscribe(topic_name, 1000, Callback);
    
    //Get the IP in the IP struct
    ipStructVar.index = i;
    ipStructVar.ip = all_ips[i];

    //create thread
    rc = pthread_create(&tds[i], NULL, createSocket, (void *) &ipStructVar);
    if (rc)
    {
      cout << "Error:unable to create communication thread," << rc << endl;
      exit(-1);
    }

    pthread_join( tds[i], NULL);
      
    if(isSocketCreate)
    {
      rc = pthread_create(&wds[i], NULL, writeFunction, (void *)2);
      if (rc)
      {
        cout << "Error:unable to create write thread," << rc << endl;
        exit(-1);
      }

      //Couldn't figure out how to get the data from drones!

      rc = pthread_create(&rds[i], NULL, readMulFunction, (void *) &ipStructVar);
        
      if (rc)
      {
        cout << "Error:unable to read create thread," << rc << endl;
        exit(-1);
      }

      cout<<service_name;

      serviceClient = n.serviceClient<edrone_client::edrone_services>(service_name,true);
      rc = pthread_create(&sds[i], NULL, serviceFunction, (void *) &ipStructVar);
        
      if (rc)
      {
        cout << "Error:unable to service create thread," << rc << endl;
        exit(-1);
      }
    }

    cout<<"End";
  }
    ros::spin();
    return 0;
}