ver4

class_model/include/class_model/Param.h

@@ -1,6 +1,6 @@
-/*Get Drone's Parameter*/
-#ifndef GETPARAM_H
-#define GETPARAM_H
+/*Get/SET Drone's Parameter*/
+#ifndef PARAM_H
+#define PARAM_H
 
 #include <ros/ros.h>
 
@@ -9,6 +9,8 @@ public:
     ParamClass();
     virtual ~ParamClass();
     int getID();
+    int setParam(std::string ParamName , int value);
+    int getParam(std::string ParamName);
 
 private:
     // ROS NodeHandle
@@ -25,4 +27,4 @@ private:
 
 };
 
-#endif // GETPARAM_H
+#endif // PARAM_H

class_model/include/class_model/choose_leader.h

@@ -0,0 +1,22 @@
+// choose a leader , other drones set as follower
+#ifndef CHOOSE_LEADER_H
+#define CHOOSE_LEADER_H
+
+#include <ros/ros.h>
+#include "class_model/Param.h"
+
+class SelectionClass{
+public:
+    SelectionClass();
+    virtual ~SelectionClass();
+
+    ParamClass param_object;
+    void choose_leader();
+
+private:
+    // ROS NodeHandle
+    ros::NodeHandle node_handle_;
+    int ID;
+
+};
+#endif //CHOOSE_LEADER_H

class_model/include/class_model/mission.h

@@ -4,7 +4,7 @@
 
 #include "class_model/receiver.h"
 #include "class_model/formation.h"
-#include "class_model/getParam.h"
+#include "class_model/Param.h"
 #include "class_model/select.h"
 
 class MissionClass {
@@ -20,6 +20,9 @@ public:
     void fly2target(float x=0 ,float y=0);
     void cruise(float x ,float y);
     void snake(float x ,float y);
+    void start();
+    void set_mission();
+
 private:
     // ROS NodeHandle
     ros::NodeHandle node_handle_;

class_model/include/class_model/requestData.h

@@ -7,7 +7,7 @@
 #include <string>
 #include <class_model/gps_location.h>
 #include <nlohmann/json.hpp>
-#include "rapidjson/document.h"
+// #include "rapidjson/document.h"
 
 using json = nlohmann::json;
 
@@ -32,7 +32,7 @@ private:
     void StringToJson(std::string data);
     float heading;
     global_location leader_position;
-    rapidjson::Document document;
+    // rapidjson::Document document;
     json j_data;
 
   // SUBSCRIBE

class_model/include/class_model/select.h

@@ -4,7 +4,7 @@
 
 #include "class_model/receiver.h"
 #include "class_model/formation.h"
-#include "class_model/getParam.h"
+#include "class_model/Param.h"
 
 class SelectClass {
 public:
@@ -22,12 +22,14 @@ public:
     void goose_formation(float x=0,float y=0);
     void protect_formation(float x=0,float y=0);
     void Hex_formation(float x=0,float y=0);
+    void start_formation();
     void stop();
     
 private:
     // ROS NodeHandle
     ros::NodeHandle node_handle_;
     int counter;
+    int JobNumber;
 };
 
 #endif // SELECT_H