Adding new services for tag detection. incomplete.

src/ardrone_driver.cpp

@@ -41,6 +41,8 @@ ARDroneDriver::ARDroneDriver()
 	toggleCam_service = node_handle.advertiseService("/ardrone/togglecam", toggleCamCallback);
 	toggleNavdataDemo_service = node_handle.advertiseService("/ardrone/togglenavdatademo", toggleNavdataDemoCallback);
 	setCamChannel_service = node_handle.advertiseService("/ardrone/setcamchannel",setCamChannelCallback );
+//	setEnemyColor_service = node_handle.advertiseService("/ardrone/setenemycolor", setEnemyColorCallback);
+//	setHullType_service = node_handle.advertiseService("/ardrone/sethulltype", setHullTypeCallback);
 }
 
 ARDroneDriver::~ARDroneDriver()

src/ardrone_driver.h

@@ -33,8 +33,21 @@ private:
 
 	//ros::Subscriber toggleCam_sub;
 	ros::ServiceServer toggleCam_service;
-                ros::ServiceServer toggleNavdataDemo_service;
-                ros::ServiceServer setCamChannel_service;
+	ros::ServiceServer toggleNavdataDemo_service;
+	ros::ServiceServer setCamChannel_service;
+	
+	/*
+	 * Orange Green : 1
+	 * Orange Yellow: 2
+	 * Orange Blue: 3
+	 */
+	//ros::ServiceServer setEnemyColor_service; 
+	
+	/*
+	 * Indoor: 1
+	 * Oudoor: 0
+	 */
+	//ros::ServiceServer setHullType_service;
 
 	int last_frame_id;
 	int flying_state;

src/ardrone_sdk.cpp

@@ -9,42 +9,39 @@ navdata_vision_detect_t navdata_detect;
 navdata_time_t arnavtime;
 
 extern "C" {
-	C_RESULT ardrone_tool_init_custom(int argc, char **argv)
-	{
-		ardrone_tool_input_add( &teleop );
-		START_THREAD( video_update_thread, 0 );
+
+	C_RESULT ardrone_tool_init_custom(int argc, char **argv) {
+		ardrone_tool_input_add(&teleop);
+		START_THREAD(video_update_thread, 0);
 		return C_OK;
 	}
 
-	C_RESULT navdata_custom_init( void * )
-	{
+	C_RESULT navdata_custom_init(void *) {
 		return C_OK;
 	}
 
-	C_RESULT navdata_custom_process( const navdata_unpacked_t* const pnd )
-	{
+	C_RESULT navdata_custom_process(const navdata_unpacked_t * const pnd) {
 		navdata_detect = pnd->navdata_vision_detect;
 		navdata_phys = pnd->navdata_phys_measures;
 		navdata = pnd->navdata_demo;
 		arnavtime = pnd->navdata_time;
-	
+
 		return C_OK;
 	}
 
-	C_RESULT navdata_custom_release()
-	{
+	C_RESULT navdata_custom_release() {
 		return C_OK;
 	}
 
 	BEGIN_THREAD_TABLE
-		THREAD_TABLE_ENTRY( video_update_thread, 20 )
-		THREAD_TABLE_ENTRY( navdata_update, 20 )
-		THREAD_TABLE_ENTRY( ATcodec_Commands_Client, 20 )
-		THREAD_TABLE_ENTRY( ardrone_control, 20 )
+	THREAD_TABLE_ENTRY(video_update_thread, 20)
+	THREAD_TABLE_ENTRY(navdata_update, 20)
+	THREAD_TABLE_ENTRY(ATcodec_Commands_Client, 20)
+	THREAD_TABLE_ENTRY(ardrone_control, 20)
 	END_THREAD_TABLE
 
 	BEGIN_NAVDATA_HANDLER_TABLE
-		NAVDATA_HANDLER_TABLE_ENTRY(
+	NAVDATA_HANDLER_TABLE_ENTRY(
 			navdata_custom_init,
 			navdata_custom_process,
 			navdata_custom_release,

src/teleop_twist.cpp

@@ -14,7 +14,7 @@ int32_t detect_groundstripes_color = ARDRONE_DETECTION_COLOR_ORANGE_BLUE;
 int32_t detect_dtype = CAD_TYPE_MULTIPLE_DETECTION_MODE;
 int32_t detect_hori_type = TAG_TYPE_MASK(TAG_TYPE_SHELL_TAG);
 int32_t detect_vert_type = TAG_TYPE_MASK(TAG_TYPE_ROUNDEL);
-int32_t detect_indoor_hull = 1;
+int32_t detect_indoor_hull = 0;
 int32_t detect_disable_placeholder = 0;
 
 bool toggleNavdataDemoCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)

srv/HullSelect.srv

@@ -0,0 +1,3 @@
+uint8 type
+---
+bool result