bionic (unfinished)

class_model/include/class_model/DroneStatus.h

@@ -1,7 +1,10 @@
 #include <std_msgs/String.h>
+#include "class_model/gps_location.h"
 typedef struct DroneStatus
 {
     /* data */
+    global_location init_location;
     int plane;
     std::string leader;
+    std::string DroneName;
 } DroneStatus;

class_model/include/class_model/follower.h

@@ -26,7 +26,10 @@ public:
     DroneStatus drone3;
 
     void follower();
+
+    float lon[3],lat[3];
     
+
 private:
     // ROS NodeHandle
     ros::NodeHandle node_handle_;
@@ -39,6 +42,7 @@ private:
     void plane(global_location target_location,global_location leader_location,global_location follower_location);
     void choose_leader();
     void follow();
+    void get_location();
 
 };
 

class_model/src/follower.cpp

@@ -22,13 +22,28 @@ void FollowerClass::plane(global_location target_location,global_location leader
     c = target_location.lat - slope*target_location.lon;
     y = slope * follower_location.lon + c;
 
-    // if()
+    if(follower_location.lat >= y){
+        drone1.plane = 1;        //right plane
+    }else if(follower_location.lat < y){
+        drone1.plane = 0;        //left plane
+    }
     
-    //choose_leader()
+    choose_leader();
 }
 
 void FollowerClass::choose_leader(){
 
+
+
+    
+
+}
+
+void FollowerClass::get_location(){
+
+    // lon[0]
+
+
 }
 
 void FollowerClass::calculate_position(float k,float theta){

class_model/src/utils/mqttConfig_PUB.yml

@@ -1,5 +1,5 @@
 MQTT:
-  msg_format: Proto
+  msg_format: Json
   MQTTClientNamePub: Drone550Pub
   host: 140.120.31.133
   port: 1883

class_model/src/utils/mqttConfig_SUB.yml

@@ -1,5 +1,5 @@
 MQTT:
-  msg_format: Proto
+  msg_format: Json
   MQTTClientNameSub: Drone550Sub
   host: 140.120.31.133
   port: 1883