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will now only read rosparams for writeable drone parameters
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= committed Nov 12, 2012
1 parent 0dc6a2a commit 3ec0db0
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Showing 2 changed files with 16 additions and 12 deletions.
8 changes: 4 additions & 4 deletions src/ardrone_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -195,8 +195,8 @@ void ARDroneDriver::configureDrone()

// firstly we send the CAT_COMMON parameters, for example outdoor, as these settings can affect where the other parameters are stored
#define ARDRONE_CONFIG_KEY_REF_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) //do nothing for reference-only parameters
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }

#include <config_keys.h> // include the parameter definitions, which will be replaced by the above

Expand All @@ -205,8 +205,8 @@ void ARDroneDriver::configureDrone()

// then we send the rest of the parameters. The problem is if we send euler_angle_max (for example) before sending outdoor, it will get written to the wrong parameter
// (indoor_ not outdoor_euler_angle_max) and then will be overwritten by the default when changing state from indoor to outdoor, so we need to send common parameters first.
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }

#include <config_keys.h> // include the parameter definitions, which will be replaced by the above

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20 changes: 12 additions & 8 deletions src/ardrone_sdk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,28 +89,32 @@ extern "C" {
#undef LOAD_PARAM_STR
#undef LOAD_PARAM_NUM

#define LOAD_PARAM_NUM(NAME,C_TYPE) \
{ double param; \
#define LOAD_PARAM_NUM(NAME,C_TYPE,DEFAULT) \
{ \
double param; \
ROS_DEBUG("CHECK: "#NAME); \
if(ros::param::get("~"#NAME,param)) \
{ \
ardrone_application_default_config.NAME = (C_TYPE)param; \
ROS_DEBUG("SET: "#NAME" = %f", (float)ardrone_application_default_config.NAME); \
ROS_DEBUG("SET: "#NAME" = %f (DEFAULT = %f)", (float)ardrone_application_default_config.NAME, (float)DEFAULT); \
} \
}

#define LOAD_PARAM_STR(NAME) \
{ std::string param; \
#define LOAD_PARAM_STR(NAME,DEFAULT) \
{ \
std::string param; \
ROS_DEBUG("CHECK: "#NAME); \
if(ros::param::get("~"#NAME,param)) \
{ \
param = param.substr(0,STRING_T_SIZE-1); \
strcpy(ardrone_application_default_config.NAME , param.c_str()); \
ROS_DEBUG("SET: "#NAME" = %s", ardrone_application_default_config.NAME); \
ROS_DEBUG("SET: "#NAME" = %s (DEFAULT = %s)", ardrone_application_default_config.NAME, DEFAULT); \
} \
}

#define ARDRONE_CONFIG_KEY_REF_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) //do nothing for reference-only parameters
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom")) LOAD_PARAM_NUM(NAME,C_TYPE) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom")) LOAD_PARAM_STR(NAME) }
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) LOAD_PARAM_NUM(NAME,C_TYPE, DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) LOAD_PARAM_STR(NAME, DEFAULT) }

#include <config_keys.h> // include the parameter definitions, which will be replaced by the above

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