Save/restore state between restarts

ClemensElflein · Oct 28, 2023 · 6a0c295 · 6a0c295
1 parent b9d2df0
commit 6a0c295
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Showing 6 changed files with 192 additions and 64 deletions.
diff --git a/src/mower_logic/CMakeLists.txt b/src/mower_logic/CMakeLists.txt
@@ -14,17 +14,20 @@ find_package(catkin REQUIRED COMPONENTS
   mower_map
   mower_msgs
   nav_msgs
+  rosbag
   roscpp
   slic3r_coverage_planner
   tf2
   tf2_geometry_msgs
   tf2_ros
-        sensor_msgs
-        robot_localization
-        xbot_msgs
-        xbot_positioning
+  sensor_msgs
+  robot_localization
+  xbot_msgs
+  xbot_positioning
 )
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(CRYPTOPP REQUIRED libcrypto++)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -60,11 +63,10 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  CheckPoint.msg
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -81,10 +83,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
+generate_messages(
 #   DEPENDENCIES
 #   mbf_msgs#   mower_msgs#   nav_msgs#   tf2_geometry_msgs
-# )
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -131,6 +133,7 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+  ${CRYPTOPP_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -178,7 +181,7 @@ add_executable(mower_logic
         src/mower_logic/behaviors/AreaRecordingBehavior.cpp
         )
 add_dependencies(mower_logic ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
-target_link_libraries(mower_logic ${catkin_LIBRARIES})
+target_link_libraries(mower_logic ${catkin_LIBRARIES} ${CRYPTOPP_LIBRARIES})
 
 add_executable(mower_odometry src/mower_odometry/mower_odometry.cpp)
 add_dependencies(mower_odometry ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})

diff --git a/src/mower_logic/cfg/MowerLogic.cfg b/src/mower_logic/cfg/MowerLogic.cfg
@@ -17,7 +17,6 @@ gen.add("mow_angle_increment", double_t, 0, "Mowing angle automatic increment. W
 gen.add("tool_width", double_t, 0, "Width of the mower", 0.14, 0.1, 2)
 gen.add("enable_mower", bool_t, 0, "True to enable mow motor", False)
 gen.add("manual_pause_mowing", bool_t, 0, "True to disable mowing automatically", False)
-gen.add("current_area", int_t, 0, "Current Mow Area", 0, 0, 99)
 gen.add("battery_empty_voltage", double_t, 0, "Voltage to return to docking station", 25.0, 20.0, 32.0)
 gen.add("battery_full_voltage", double_t, 0, "Voltage to start mowing again", 29.0, 20.0, 32.0)
 gen.add("motor_hot_temperature", double_t, 0, "Motor temperature to pause mowing", 70.0, 20.0, 150.0)

diff --git a/src/mower_logic/msg/CheckPoint.msg b/src/mower_logic/msg/CheckPoint.msg
@@ -0,0 +1,5 @@
+int32 currentMowingPath
+int32 currentMowingArea
+int32 currentMowingPathIndex
+string currentMowingPlanDigest
+float32 currentMowingAngleIncrementSum
diff --git a/src/mower_logic/package.xml b/src/mower_logic/package.xml
@@ -24,6 +24,7 @@
   <build_depend>visualization_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>xbot_msgs</build_depend>
+  <build_depend>crypto++</build_depend>
   <depend>xbot_positioning</depend>
   <build_export_depend>dynamic_reconfigure</build_export_depend>
   <build_export_depend>ftc_local_planner</build_export_depend>