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Xuan0319
2022-12-20 21:40:01 +08:00
parent 5caac7cbc2
commit 506e6e38d8
1 changed files with 7 additions and 33 deletions
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class_model/src/requestData.cpp
+7 -33
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@@ -7,9 +7,9 @@ int command;
RequestClass::RequestClass() : node_handle_(""){ RequestClass::RequestClass() : node_handle_(""){
mqtt_data = node_handle_.subscribe("/uav_message", 100, mqtt_data = node_handle_.subscribe("/Flight_Information_reciver", 100,
&RequestClass::Data_callback, this); &RequestClass::Data_callback, this);
formation_data = node_handle_.subscribe("/formation_message", 10, formation_data = node_handle_.subscribe("/Fly_Formation_reciver", 10,
&RequestClass::Message_callback, this); &RequestClass::Message_callback, this);
} }
@@ -17,13 +17,13 @@ RequestClass::RequestClass() : node_handle_(""){
RequestClass::~RequestClass() { ros::shutdown(); } RequestClass::~RequestClass() { ros::shutdown(); }
void RequestClass::Data_callback(const std_msgs::String::ConstPtr &sensor) { void RequestClass::Data_callback(const std_msgs::String::ConstPtr &sensor) {
StringToJson(sensor->data); L_INFO(sensor->data);
} }
void RequestClass::Message_callback(const std_msgs::String::ConstPtr &message) { void RequestClass::Message_callback(const std_msgs::String::ConstPtr &message) {
std::string data = message->data; std::string data = message->data;
jsonToString(data); // jsonToString(data);
} }
@@ -45,37 +45,11 @@ int RequestClass::get_formation_message(){
void RequestClass::jsonToString(std::string data){ void RequestClass::jsonToString(std::string data){
std::string list[1]={""};
int j = 0;
for(int i=0;i<data.length();i++){
if(data[i] == ':'){
i+=3;
while(data[i] != ','){
if(data[i] == ',' || data[i] == '}'){
j++;
break;
}
list[j]=list[j]+data[i];
i++;
if(j>sizeof(list)){
break;
}
}
}
}
command = std::stoi(list[1]);
// ROS_INFO("command: %s",command);
} }
void RequestClass::StringToJson(std::string data){ void RequestClass::L_INFO(std::string data){
std::cout <<"string: "<< data << std::endl; // std::cout <<"string: "<< data << std::endl;
// document.Parse(data.c_str()); //china's library // document.Parse(data.c_str()); //china's library
// leader_position.lat=document["lat"].GetInt(); // leader_position.lat=document["lat"].GetInt();
@@ -102,7 +76,7 @@ void RequestClass::StringToJson(std::string data){
leader_position.alt=j_data["alt"]; leader_position.alt=j_data["alt"];
heading = j_data["heading"]; heading = j_data["heading"];
std::cout <<"Json: " <<j_data << std::endl; // std::cout <<"Json: " <<j_data << std::endl;
// std::cout << leader_position.lat << std::endl; // std::cout << leader_position.lat << std::endl;
// std::cout << leader_position.lon << std::endl; // std::cout << leader_position.lon << std::endl;
// std::cout << leader_position.alt << std::endl; // std::cout << leader_position.alt << std::endl;