dji_sdk: dji_sdk_mission.h Source File

Go to the documentation of this file.
00001 
00012 #ifndef __DJI_MISSION_NODE_H__
00013 #define __DJI_MISSION_NODE_H__
00014 
00015 #include <ros/ros.h>
00016 #include <dji_sdk/dji_sdk.h>
00017 
00018 #define C_PI (double) 3.141592653589793
00019 
00020 extern DJI::onboardSDK::ROSAdapter *rosAdapter;
00021 
00022 enum class MissionType 
00023 {
00024         EMPTY,
00025         WAYPOINT,
00026         HOTPOINT,
00027         FOLLOWME
00028 };
00029 
00030 class DJISDKMission
00031 {
00032 private:
00033         dji_sdk::MissionPushInfo mission_status;
00034         dji_sdk::MissionPushInfo mission_event;
00035 
00036         dji_sdk::MissionWaypointTask waypoint_task;
00037         dji_sdk::MissionHotpointTask hotpoint_task;
00038         dji_sdk::MissionFollowmeTask followme_task;
00039         
00040 public:
00041         DJISDKMission(ros::NodeHandle& nh);
00042         void mission_status_callback(uint8_t *buf, uint8_t len);
00043         void mission_event_callback(uint8_t *buf, uint8_t len);
00044 private:
00045         //mission data publisher, processing data from N1
00046         ros::Publisher mission_status_publisher;
00047         ros::Publisher mission_event_publisher;
00048 
00049         //common mission request subscriber
00050         ros::ServiceServer mission_start_service;
00051         ros::ServiceServer mission_pause_service;
00052         ros::ServiceServer mission_cancel_service;
00053 
00054         //subscriber running when operating waypoint
00055         ros::ServiceServer mission_wp_upload_service;
00056         ros::ServiceServer mission_wp_download_service;
00057         ros::ServiceServer mission_wp_set_speed_service;
00058         ros::ServiceServer mission_wp_get_speed_service;
00059 
00060         //subscriber running when operating hotpoint
00061         ros::ServiceServer mission_hp_upload_service;
00062         ros::ServiceServer mission_hp_download_service;
00063         ros::ServiceServer mission_hp_set_speed_service;
00064         ros::ServiceServer mission_hp_set_radius_service;
00065         ros::ServiceServer mission_hp_reset_yaw_service;
00066 
00067         //subscriber running when operating followme
00068         ros::ServiceServer mission_fm_upload_service;
00069         ros::ServiceServer mission_fm_set_target_service;
00070         
00071         MissionType current_type = MissionType::EMPTY;
00072 
00073         bool mission_start_callback(dji_sdk::MissionStart::Request& request, dji_sdk::MissionStart::Response& response);
00074         bool mission_pause_callback(dji_sdk::MissionPause::Request& request, dji_sdk::MissionPause::Response& response);
00075         bool mission_cancel_callback(dji_sdk::MissionCancel::Request& request, dji_sdk::MissionCancel::Response& response);
00076         bool mission_wp_upload_callback(dji_sdk::MissionWpUpload::Request& request, dji_sdk::MissionWpUpload::Response& response);
00077         bool mission_wp_download_callback(dji_sdk::MissionWpDownload::Request& request, dji_sdk::MissionWpDownload::Response& response);
00078         bool mission_wp_get_speed_callback(dji_sdk::MissionWpGetSpeed::Request& request, dji_sdk::MissionWpGetSpeed::Response& response);
00079         bool mission_wp_set_speed_callback(dji_sdk::MissionWpSetSpeed::Request& request, dji_sdk::MissionWpSetSpeed::Response& response);
00080         bool mission_hp_upload_callback(dji_sdk::MissionHpUpload::Request& request, dji_sdk::MissionHpUpload::Response& response);
00081         bool mission_hp_download_callback(dji_sdk::MissionHpDownload::Request& request, dji_sdk::MissionHpDownload::Response& response);
00082         bool mission_hp_set_speed_callback(dji_sdk::MissionHpSetSpeed::Request& request, dji_sdk::MissionHpSetSpeed::Response& response);
00083         bool mission_hp_set_radius_callback(dji_sdk::MissionHpSetRadius::Request& request, dji_sdk::MissionHpSetRadius::Response& response);
00084         bool mission_hp_reset_yaw_callback(dji_sdk::MissionHpResetYaw::Request& request, dji_sdk::MissionHpResetYaw::Response& response);
00085         bool mission_fm_upload_callback(dji_sdk::MissionFmUpload::Request& request, dji_sdk::MissionFmUpload::Response& response);
00086         bool mission_fm_set_target_callback(dji_sdk::MissionFmSetTarget::Request& request, dji_sdk::MissionFmSetTarget::Response& response);
00087 
00088 
00089         void init_missions(ros::NodeHandle& nh)
00090         {
00091                 mission_status_publisher = nh.advertise<dji_sdk::MissionPushInfo>("dji_sdk/mission_status", 10);
00092                 mission_event_publisher = nh.advertise<dji_sdk::MissionPushInfo>("dji_sdk/mission_event", 10);
00093 
00094                 mission_start_service = nh.advertiseService("dji_sdk/mission_start", &DJISDKMission::mission_start_callback ,this);
00095                 mission_pause_service = nh.advertiseService("dji_sdk/mission_pause", &DJISDKMission::mission_pause_callback ,this);
00096                 mission_cancel_service = nh.advertiseService("dji_sdk/mission_cancel", &DJISDKMission::mission_cancel_callback ,this);
00097                 mission_wp_upload_service = nh.advertiseService("dji_sdk/mission_waypoint_upload", &DJISDKMission::mission_wp_upload_callback,this);
00098                 mission_wp_download_service = nh.advertiseService("dji_sdk/mission_waypoint_download", &DJISDKMission::mission_wp_download_callback,this);
00099                 mission_wp_set_speed_service = nh.advertiseService("dji_sdk/mission_waypoint_set_speed", &DJISDKMission::mission_wp_set_speed_callback ,this);
00100                 mission_wp_get_speed_service = nh.advertiseService("dji_sdk/mission_waypoint_get_speed", &DJISDKMission::mission_wp_get_speed_callback ,this);
00101                 mission_hp_upload_service = nh.advertiseService("dji_sdk/mission_hotpoint_upload", &DJISDKMission::mission_hp_upload_callback ,this);
00102                 mission_hp_download_service = nh.advertiseService("dji_sdk/mission_hotpoint_download", &DJISDKMission::mission_hp_download_callback,this);
00103                 mission_hp_set_speed_service = nh.advertiseService("dji_sdk/mission_hotpoint_set_speed", &DJISDKMission::mission_hp_set_speed_callback ,this);
00104                 mission_hp_set_radius_service = nh.advertiseService("dji_sdk/mission_hotpoint_set_radius", &DJISDKMission::mission_hp_set_radius_callback ,this);
00105                 mission_hp_reset_yaw_service = nh.advertiseService("dji_sdk/mission_hotpoint_reset_yaw", &DJISDKMission::mission_hp_reset_yaw_callback ,this);
00106                 mission_fm_upload_service = nh.advertiseService("dji_sdk/mission_followme_upload", &DJISDKMission::mission_fm_upload_callback ,this);
00107                 mission_fm_set_target_service = nh.advertiseService("dji_sdk/mission_followme_set_target", &DJISDKMission::mission_fm_set_target_callback ,this);
00108 
00109         }
00110 };
00111 
00112 #endif