From 26dcb8d9e94338120ca6591c2f558a9726fa329c Mon Sep 17 00:00:00 2001
From: Xuan0319 <new310049@gmail.com>
Date: Mon, 26 Dec 2022 22:30:41 +0800
Subject: [PATCH] tested class PubInfo complete.

---
 class_model/CMakeLists.txt             |  6 +++++-
 class_model/include/class_model/INFO.h |  4 ++--
 class_model/src/main.cpp               | 11 ++++++++---
 class_model/src/test_pub.py            | 10 ++++++----
 4 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/class_model/CMakeLists.txt b/class_model/CMakeLists.txt
index 55a9378..aaa0f24 100755
--- a/class_model/CMakeLists.txt
+++ b/class_model/CMakeLists.txt
@@ -260,6 +260,10 @@ target_include_directories(PubData_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/includ
 target_link_libraries(PubData_lib ${catkin_LIBRARIES})
 add_dependencies(PubData_lib main_generate_messages_cpp)
 
+add_library(PubInfo_lib ${CMAKE_CURRENT_SOURCE_DIR}/src/PubInfo.cpp)
+target_include_directories(PubInfo_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
+target_link_libraries(PubInfo_lib ${catkin_LIBRARIES})
+add_dependencies(PubInfo_lib main_generate_messages_cpp)
 ##################
 
 add_library(formation_lib ${CMAKE_CURRENT_SOURCE_DIR}/src/formation.cpp)
@@ -279,7 +283,7 @@ add_dependencies(mission_lib main_generate_messages_cpp)
 
 ##################
 add_executable(main src/main.cpp)
-target_link_libraries(main ${catkin_LIBRARIES} mission_lib)
+target_link_libraries(main ${catkin_LIBRARIES} mission_lib PubInfo_lib)
 add_dependencies(main class_model_generate_messages_cpp)
 
 ################json test
diff --git a/class_model/include/class_model/INFO.h b/class_model/include/class_model/INFO.h
index dfc2a22..719e14a 100644
--- a/class_model/include/class_model/INFO.h
+++ b/class_model/include/class_model/INFO.h
@@ -1,7 +1,7 @@
 #ifndef INFO_H
 #define INFO_H
 
-#include<std/string.hpp>
+#include<std_msgs/String.h>
 
 typedef struct flight_INFO
 {
@@ -11,4 +11,4 @@ typedef struct flight_INFO
 
 
 
-#endif INFO_H
+#endif //INFO_H
diff --git a/class_model/src/main.cpp b/class_model/src/main.cpp
index 02dfc1b..92959c6 100755
--- a/class_model/src/main.cpp
+++ b/class_model/src/main.cpp
@@ -1,6 +1,6 @@
 #include "class_model/mission.h"
 #include "class_model/choose_leader.h"
-#include "class_model/PubData.h"
+#include "class_model/PubInfo.h"
 
 int main(int argc, char **argv) {
 
@@ -17,7 +17,7 @@ int main(int argc, char **argv) {
     MissionClass mission_object;
     CommandClass command_object;
     SelectClass select_formation;
-    PubDataClass PubData_object;
+    PubInfoClass PubInfo_object;
     
     // SelectionClass selection_object;
     
@@ -30,11 +30,16 @@ int main(int argc, char **argv) {
     // selection_object.choose_leader();
     // mission_object.start();   //default hover in goose formation
 
+    INFO msg;
+    msg.type = "V_formation";
+    msg.mission = "fly2target";
+
     while(ros::ok()){
 
 
     //json_object.get_command();       //for follower
-    select_formation.goose_formation();
+    //select_formation.goose_formation();
+    PubInfo_object.pub_info(msg);
     }
 
     ros::waitForShutdown();
diff --git a/class_model/src/test_pub.py b/class_model/src/test_pub.py
index db4d8f7..0c72b37 100755
--- a/class_model/src/test_pub.py
+++ b/class_model/src/test_pub.py
@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
 #coding:utf-8
 import rospy
-from mavros_msgs.msg import Waypoint
+# from mavros_msgs.msg import Waypoint
+from diagnostic_msgs.msg import KeyValue
  
 def callBack(data):
-    print (data.param1)
+    print (data)
+
  
 if __name__ == '__main__':
     nodeName = 'subscriber_py'
     rospy.init_node(nodeName)
-    topicName = '/DroneStatus'
-    subscriber = rospy.Subscriber(topicName,Waypoint,callBack)  #從topic獲取string再呼叫callback
+    topicName = '/Flight_Information_reciver'
+    subscriber = rospy.Subscriber(topicName,KeyValue,callBack)  #從topic獲取string再呼叫callback
     rospy.spin()
\ No newline at end of file