added drone interfaces to comm

src/libs/comm_cpp/CMakeLists.txt

@@ -49,6 +49,15 @@ set(HEADERS
     include/jderobot/comm/rgbdClient.hpp
     include/jderobot/comm/interfaces/rgbdClient.hpp
     include/jderobot/comm/ice/rgbdIceClient.hpp
+    include/jderobot/comm/cmdvelClient.hpp
+    include/jderobot/comm/interfaces/cmdvelClient.hpp
+    include/jderobot/comm/ice/cmdvelIceClient.hpp
+    include/jderobot/comm/navdataClient.hpp
+    include/jderobot/comm/interfaces/navdataClient.hpp
+    include/jderobot/comm/ice/navdataIceClient.hpp
+    include/jderobot/comm/ardroneextraClient.hpp
+    include/jderobot/comm/interfaces/ardroneextraClient.hpp
+    include/jderobot/comm/ice/ardroneextraIceClient.hpp
 )
 
 set(SOURCES
@@ -63,6 +72,12 @@ set(SOURCES
     src/ice/motorsIceClient.cpp
     src/rgbdClient.cpp
     src/ice/rgbdIceClient.cpp
+    src/cmdvelClient.cpp
+    src/ice/cmdvelIceClient.cpp
+    src/ardroneextraClient.cpp
+    src/ice/ardroneextraIceClient.cpp
+    src/navdataClient.cpp
+    src/ice/navdataIceClient.cpp
 )
 
 

src/libs/comm_cpp/include/jderobot/comm/ardroneextraClient.hpp

@@ -0,0 +1,49 @@
+/*
+ *  Copyright (C) 1997-2016 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_ARDRONEEXTRACLIENT_H
+#define JDEROBOTCOMM_ARDRONEEXTRACLIENT_H
+
+
+#include <Ice/Communicator.h>
+#include <jderobot/comm/communicator.hpp>
+#include <jderobot/comm/interfaces/ardroneextraClient.hpp>
+
+
+
+
+
+namespace Comm {
+
+	/**
+	 * @brief make a ArDroneExtraClient using propierties
+	 *
+	 *
+	 * @param communicator that contains properties
+	 * @param prefix of client Propierties (example: "Uav_viewer.ArDroneExtra")
+	 * 
+	 *
+	 * @return null if propierties are wrong
+	 */
+	ArDroneExtraClient* getArDroneExtraClient(Comm::Communicator* jdrc, std::string prefix);
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_ARDRONEEXTRACLIENT_H

src/libs/comm_cpp/include/jderobot/comm/cmdvelClient.hpp

@@ -0,0 +1,49 @@
+/*
+ *  Copyright (C) 1997-2016 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_CMDVELCLIENT_H
+#define JDEROBOTCOMM_CMDVELCLIENT_H
+
+#include <jderobot/types/cmdvel.h>
+#include <Ice/Communicator.h>
+#include <jderobot/comm/communicator.hpp>
+#include <jderobot/comm/interfaces/cmdvelClient.hpp>
+
+
+
+
+
+namespace Comm {
+
+	/**
+	 * @brief make a CMDVelClient using propierties
+	 *
+	 *
+	 * @param communicator that contains properties
+	 * @param prefix of client Propierties (example: "Uav_viewer.CMDVel")
+	 * 
+	 *
+	 * @return null if propierties are wrong
+	 */
+	CMDVelClient* getCMDVelClient(Comm::Communicator* jdrc, std::string prefix);
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_CMDVELCLIENT_H

src/libs/comm_cpp/include/jderobot/comm/ice/ardroneextraIceClient.hpp

@@ -0,0 +1,59 @@
+/*
+ *  Copyright (C) 1997-2017 JDE Developers
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *
+ *  Author : Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_ARDRONEEXTRAICECLIENT_H_
+#define JDEROBOTCOMM_ARDRONEEXTRAICECLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <iostream>
+#include <Ice/Ice.h>
+#include <jderobot/ardroneextra.h>
+#include <jderobot/comm/communicator.hpp>
+#include <jderobot/comm/interfaces/ardroneextraClient.hpp>
+
+namespace Comm {
+
+
+class ArDroneExtraIceClient: public Comm::ArDroneExtraClient {
+public:
+	ArDroneExtraIceClient(Comm::Communicator* jdrc, std::string prefix);
+	virtual ~ArDroneExtraIceClient();
+
+	virtual void toggleCam();
+	virtual void land();
+	virtual void takeoff();
+	virtual void reset();
+	virtual void recordOnUsb(bool record);
+	virtual void ledAnimation(int type,float duration, float req);
+	virtual void flightAnimation(int type, float duration);
+	virtual void flatTrim();
+
+
+
+private:
+	std::string prefix;
+	jderobot::ArDroneExtraPrx prx;
+	IceUtil::Mutex controlMutex;
+
+
+};
+
+
+} /* namespace jderobotcomm */
+#endif /* JDEROBOTCOMM_ARDRONEEXTRAICECLIENT_H_ */

src/libs/comm_cpp/include/jderobot/comm/ice/cmdvelIceClient.hpp

@@ -0,0 +1,53 @@
+/*
+ *  Copyright (C) 1997-2017 JDE Developers
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *
+ *  Author : Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_CMDVELSICECLIENT_H_
+#define JDEROBOTCOMM_CMDVELSICECLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <iostream>
+#include <Ice/Ice.h>
+#include <jderobot/cmdvel.h>
+#include <jderobot/types/cmdvel.h>
+#include <jderobot/comm/communicator.hpp>
+#include <jderobot/comm/interfaces/cmdvelClient.hpp>
+
+namespace Comm {
+
+
+class CMDVelIceClient: public Comm::CMDVelClient {
+public:
+	CMDVelIceClient(Comm::Communicator* jdrc, std::string prefix);
+	virtual ~CMDVelIceClient();
+
+	virtual void sendVelocities(JdeRobotTypes::CMDVel vel);
+
+
+
+private:
+	std::string prefix;
+	jderobot::CMDVelPrx prx;
+	IceUtil::Mutex controlMutex;
+
+
+};
+
+
+} /* namespace jderobotcomm */
+#endif /* JDEROBOTCOMM_CMDVELSICECLIENT_H_ */

src/libs/comm_cpp/include/jderobot/comm/ice/navdataIceClient.hpp

@@ -0,0 +1,70 @@
+/*
+ *  Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *
+ *  Author : Jose María Cañas <jmplaza@gsyc.es>
+			Francisco Miguel Rivas Montero <franciscomiguel.rivas@urjc.es>
+
+ */
+
+#ifndef JDEROBOTCOMM_NAVDATAICECLIENT_H_
+#define JDEROBOTCOMM_NAVDATAICECLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <iostream>
+#include <Ice/Ice.h>
+#include <jderobot/navdata.h>
+#include <cv.h>
+#include <sstream>
+#include <fstream>
+#include <logger/Logger.h>
+#include <jderobot/types/navdataData.h>
+#include <jderobot/comm/communicator.hpp>
+#include <jderobot/comm/interfaces/navdataClient.hpp>
+
+namespace Comm {
+
+
+class NavdataIceClient: public IceUtil::Thread, public Comm::NavdataClient {
+public:
+	NavdataIceClient(Comm::Communicator* jdrc, std::string prefix);
+	virtual ~NavdataIceClient();
+	virtual void run();
+
+	virtual JdeRobotTypes::NavdataData  getNavdataData();
+	int getRefreshRate(){return refreshRate;};
+	void pause();
+	void resume();
+	bool getPause(){return pauseStatus;};
+
+
+
+private:
+	std::string prefix;
+	jderobot::NavdataPrx prx;
+	long long int cycle;
+	IceUtil::Mutex controlMutex;
+	bool debug;
+	bool _done;
+	int refreshRate;
+	bool pauseStatus;
+
+	IceUtil::Cond sem;
+
+};
+
+
+} /* namespace jderobot */
+#endif /* JDEROBOTCOMM_NAVDATAICECLIENT_H_ */

src/libs/comm_cpp/include/jderobot/comm/interfaces/ardroneextraClient.hpp

@@ -0,0 +1,49 @@
+/*
+ *  Copyright (C) 1997-2017 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_CMDVELCLIENT_INTERFACE_H
+#define JDEROBOTCOMM_CMDVELCLIENT_INTERFACE_H
+
+
+namespace Comm {
+
+	/**
+	 * @brief MotorsClient class.
+	 * This class is a Interface to seprate communications from tools. 
+	 * With this, the tools don't need know which communicator (ROS or ICE) are using because both use the same interface.
+	 *
+	 */
+	class ArDroneExtraClient {
+	public:
+		bool on = false;
+
+		virtual void toggleCam()=0;
+		virtual void land()=0;
+		virtual void takeoff()=0;
+		virtual void reset()=0;
+		virtual void recordOnUsb(bool record)=0;
+		virtual void ledAnimation(int type,float duration, float req)=0;
+		virtual void flightAnimation(int type, float duration)=0;
+		virtual void flatTrim()=0;
+
+	};
+
+} //NS
+
+#endif // JDEROBOTCOMM_CMDVELCLIENT_INTERFACE_H