/*
main(...)
This just sets up all the ROS stuff and serves as the primary top level menu
*/
int main(int argc, char **argv)
{
//Standard ROS startup
ros::init(argc, argv, "GUIInterfacer");
ros::NodeHandle n;
//advertise service - New - JC
ros::ServiceServer fileNameService = n.advertiseService("send_file_path", setFileName);
//setup client services
createSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::CreateSimulatedPlane>("create_simulated_plane");
deleteSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::DeleteSimulatedPlane>("delete_simulated_plane");
requestPlaneIDClient = n.serviceClient<AU_UAV_ROS::RequestPlaneID>("request_plane_ID");
goToWaypointClient = n.serviceClient<AU_UAV_ROS::GoToWaypoint>("go_to_waypoint");
loadPathClient = n.serviceClient<AU_UAV_ROS::LoadPath>("load_path");
loadCourseClient = n.serviceClient<AU_UAV_ROS::LoadCourse>("load_course");
initiateCoordinator = n.serviceClient<AU_UAV_ROS::StartCoordinator>("start_coordinator");
initiateCollisionAvoidance = n.serviceClient<AU_UAV_ROS::StartCollisionAvoidance>("start_collision_avoidance");
initiateSimulator = n.serviceClient<AU_UAV_ROS::StartSimulator>("start_simulator");
initiateXbeeIO = n.serviceClient<AU_UAV_ROS::StartXbeeIO>("start_xbeeio");
//initiateEvaluator = n.serviceClient<AU_UAV_ROS::StartEvaluator>("start_evaluator");
//make sure all other nodes have time to activate
sleep(1);
//new - JC - We cannot spin() because it will never stop, but we need to get our service callbacks so let's spin until we get the service call.
ros::Rate r(10); // 10 hz
while (!fileNameLoaded)
{
ros::spinOnce();
r.sleep();
}
startNodes();
//make sure all other nodes have time to activate
sleep(1);
//send service call to next node in line - in that node have a blocking call in main that just does the above and make the boolean true when the service is called
initiateTest();
return 0;
}
void RequestGenerator::wakeup()
{
DEBUG_EXPR(TESTER_COMP, MedPrio, m_node);
DEBUG_EXPR(TESTER_COMP, MedPrio, m_status);
if (m_status == RequestGeneratorStatus_Thinking) {
m_status = RequestGeneratorStatus_Test_Pending;
m_last_transition = g_eventQueue_ptr->getTime();
initiateTest(); // Test
} else if (m_status == RequestGeneratorStatus_Holding) {
m_status = RequestGeneratorStatus_Release_Pending;
m_last_transition = g_eventQueue_ptr->getTime();
initiateRelease(); // Release
} else if (m_status == RequestGeneratorStatus_Before_Swap) {
m_status = RequestGeneratorStatus_Swap_Pending;
m_last_transition = g_eventQueue_ptr->getTime();
initiateSwap();
} else {
WARN_EXPR(m_status);
ERROR_MSG("Invalid status");
}
}
/*
main(...)
This just sets up all the ROS stuff and serves as the primary top level menu
*/
int main(int argc, char **argv)
{
//Standard ROS startup
ros::init(argc, argv, "ControlsMenu");
ros::NodeHandle n;
//setup client services
createSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::CreateSimulatedPlane>("create_simulated_plane");
deleteSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::DeleteSimulatedPlane>("delete_simulated_plane");
requestPlaneIDClient = n.serviceClient<AU_UAV_ROS::RequestPlaneID>("request_plane_ID");
goToWaypointClient = n.serviceClient<AU_UAV_ROS::GoToWaypoint>("go_to_waypoint");
loadPathClient = n.serviceClient<AU_UAV_ROS::LoadPath>("load_path");
loadCourseClient = n.serviceClient<AU_UAV_ROS::LoadCourse>("load_course");
saveFlightDataClient = n.serviceClient<AU_UAV_ROS::SaveFlightData>("save_flight_data");
//set up the menu
int choice = 0;
//loop until the user asks to quit
while(choice != 5)
{
printf("\nStandard Controller Menu:\n");
printf("1-Simulator Controls\n");
printf("2-Path Planning\n");
printf("3-Save all data\n");
printf("4-Initiate test flight\n");
printf("5-Exit Program\n");
printf("Choice:");
scanf("%d", &choice);
system("clear");
switch(choice)
{
case 1:
{
simulatorMenu();
break;
}
case 2:
{
pathMenu();
break;
}
case 3:
{
char filename[256];
printf("\nEnter the filename to save to:");
scanf("%s", filename);
AU_UAV_ROS::SaveFlightData srv;
srv.request.filename = filename;
if(saveFlightDataClient.call(srv))
{
printf("Flight data saved successfully!\n");
}
else
{
ROS_ERROR("Error saving flight data");
}
break;
}
case 4:
{
initiateTest();
break;
}
case 5:
{
//nothing to do but leave
break;
}
default:
{
printf("Invalid choice.\n");
break;
}
}
}
return 0;
}
