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ver3

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Xuan0319
2022-11-28 15:40:51 +08:00
parent b2363bb682
commit aaa1e034aa
2 changed files with 28 additions and 25 deletions
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class_model/include/class_model/requestData.h
+3
View File
@@ -31,7 +31,10 @@ private:
void jsonToString(std::string data); void jsonToString(std::string data);
void StringToJson(std::string data); void StringToJson(std::string data);
float heading; float heading;
global_location leader_position;
rapidjson::Document document; rapidjson::Document document;
json j_data;
// SUBSCRIBE // SUBSCRIBE
ros::Subscriber mqtt_data; ros::Subscriber mqtt_data;
ros::Subscriber formation_data; ros::Subscriber formation_data;
class_model/src/requestData.cpp
+25 -25
View File
@@ -2,8 +2,6 @@
#include <cstdlib> #include <cstdlib>
#include <iostream> #include <iostream>
global_location leader_position;
json j_data;
int command; int command;
RequestClass::RequestClass() : node_handle_(""){ RequestClass::RequestClass() : node_handle_(""){
@@ -131,35 +129,37 @@ void RequestClass::jsonToString(std::string data){
} }
void RequestClass::StringToJson(std::string data){ void RequestClass::StringToJson(std::string data){
std::string lat = "",lon = "",alt = "",degree = "";
// j_data = json::parse(data);
std::cout << data << std::endl; std::cout << data << std::endl;
document.Parse(data.c_str());
// document.Parse(data.c_str()); //china's library
// leader_position.lat=document["lat"].GetInt();
// leader_position.lon=document["lon"].GetInt();
// leader_position.alt=document["alt"].GetInt();
// heading = document["heading"].GetInt();
// std::cout << document["lat"].GetInt() << std::endl;
// std::cout << document["lon"].GetInt() << std::endl;
// std::cout << document["alt"].GetInt() << std::endl;
// std::cout << document["heading"].GetInt() << std::endl;
//********************************************//
j_data = json::parse(data); //open source
// std::string lat = "",lon = "",alt = "",degree = "";
// lat = j_data["lat"]; // lat = j_data["lat"];
// lon = j_data["lon"]; // lon = j_data["lon"];
// alt = j_data["alt"]; // alt = j_data["alt"];
// degree = j_data["heading"]; // degree = j_data["heading"];
// leader_position.lat=std::stoi(lat); leader_position.lat=j_data["lat"];
// leader_position.lon=std::stoi(lon); leader_position.lon=j_data["lon"];
// leader_position.alt=std::stoi(alt); leader_position.alt=j_data["alt"];
// heading = std::stoi(degree); heading = j_data["heading"];
leader_position.lat=document["lat"].GetInt();
leader_position.lon=document["lon"].GetInt();
leader_position.alt=document["alt"].GetInt();
heading = document["heading"].GetInt();
//std::cout << "sensor" << sensor->data << std::endl; //std::cout << "sensor" << sensor->data << std::endl;
std::cout << document["lat"].GetInt() << std::endl; std::cout << leader_position.lat << std::endl;
std::cout << document["lon"].GetInt() << std::endl; std::cout << leader_position.lon << std::endl;
std::cout << document["alt"].GetInt() << std::endl; std::cout << leader_position.alt << std::endl;
std::cout << document["heading"].GetInt() << std::endl; std::cout << heading << std::endl;
// std::cout << leader_position.lat << std::endl;
// std::cout << leader_position.lon << std::endl;
// std::cout << leader_position.alt << std::endl;
// std::cout << heading << std::endl;
} }