From 542ef2212005e733fd99dd2f0ca3e00bd3091bcb Mon Sep 17 00:00:00 2001
From: Xuan0319 <new310049@gmail.com>
Date: Mon, 26 Dec 2022 20:47:18 +0800
Subject: [PATCH] Add class "PubInfo" to publish drone's formation type and
 mission.

---
 class_model/include/class_model/INFO.h    | 14 ++++++++++
 class_model/include/class_model/PubInfo.h | 31 +++++++++++++++++++++++
 class_model/src/PubInfo.cpp               | 22 ++++++++++++++++
 3 files changed, 67 insertions(+)
 create mode 100644 class_model/include/class_model/INFO.h
 create mode 100644 class_model/include/class_model/PubInfo.h
 create mode 100644 class_model/src/PubInfo.cpp

diff --git a/class_model/include/class_model/INFO.h b/class_model/include/class_model/INFO.h
new file mode 100644
index 0000000..dfc2a22
--- /dev/null
+++ b/class_model/include/class_model/INFO.h
@@ -0,0 +1,14 @@
+#ifndef INFO_H
+#define INFO_H
+
+#include<std/string.hpp>
+
+typedef struct flight_INFO
+{
+    std::string type,              //type include drone's formation. ex: V , X ,| ...... 
+                mission;           //The mission is what we want the drone to do.
+}INFO;
+
+
+
+#endif INFO_H
diff --git a/class_model/include/class_model/PubInfo.h b/class_model/include/class_model/PubInfo.h
new file mode 100644
index 0000000..b401d63
--- /dev/null
+++ b/class_model/include/class_model/PubInfo.h
@@ -0,0 +1,31 @@
+/*Publish Drone's status to topic "Flight_Information_reciver"*/
+#ifndef PUBINFO_H
+#define PUBINFO_H
+
+#include <ros/ros.h>
+#include <diagnostic_msgs/KeyValue.h>
+#include "class_model/INFO.h" 
+
+
+class PubInfoClass {
+public:
+    PubInfoClass();
+    virtual ~PubInfoClass();   
+    void pub_info(INFO msg);
+
+
+private:
+    // ROS NodeHandle
+    ros::NodeHandle node_handle_;
+
+    //SUBSCRIBE
+
+    //PUBLISH
+    ros::Publisher PubInfo;
+    INFO msg;
+    diagnostic_msgs::KeyValue info;
+    
+
+};
+
+#endif // PUBINFO_H
\ No newline at end of file
diff --git a/class_model/src/PubInfo.cpp b/class_model/src/PubInfo.cpp
new file mode 100644
index 0000000..83a1b1a
--- /dev/null
+++ b/class_model/src/PubInfo.cpp
@@ -0,0 +1,22 @@
+#include "class_model/PubInfo.h"
+
+PubInfoClass::PubInfoClass():node_handle_("~"){
+
+    std::string ros_namespace;
+    if (!node_handle_.hasParam("namespace"))
+	{
+	}else{
+		node_handle_.getParam("namespace", ros_namespace);
+	}
+    PubInfo = node_handle_.advertise<diagnostic_msgs::KeyValue>(ros_namespace+"/Flight_Information_reciver",100);
+
+}
+
+PubInfoClass::~PubInfoClass() { ros::shutdown(); }
+
+void PubInfoClass::pub_info(INFO msg){
+    info.key = msg.type;           //key == drone's formation
+    info.value = msg.mission;      //value == drone's mission
+    PubInfo.publish(info);
+}
+