debug

class_model/src/requestData.cpp

@@ -7,9 +7,9 @@ int command;
 
 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);
-  formation_data = node_handle_.subscribe("/formation_message", 10,
+  formation_data = node_handle_.subscribe("/Fly_Formation_reciver", 10,
                                    &RequestClass::Message_callback, this);
 
 }
@@ -17,13 +17,13 @@ RequestClass::RequestClass() : node_handle_(""){
 RequestClass::~RequestClass() { ros::shutdown(); }
 
 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) {
 
 	std::string data = message->data;
-  jsonToString(data);
+  // jsonToString(data);
   
 
 }
@@ -45,37 +45,11 @@ int RequestClass::get_formation_message(){
 
 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
   // leader_position.lat=document["lat"].GetInt();   
@@ -102,7 +76,7 @@ void RequestClass::StringToJson(std::string data){
   leader_position.alt=j_data["alt"];
   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.lon << std::endl;
   // std::cout << leader_position.alt << std::endl;