From 575c5bc93503c3c939ff15386bc3ce6a8d8ed158 Mon Sep 17 00:00:00 2001
From: MatthewTaylor24 <matcurtay@comcast.net>
Date: Sat, 3 Mar 2018 19:19:47 -0800
Subject: [PATCH] Added FrSKy controller rover_status check

---
 software/ros_packages/rover_status/CMakeLists.txt          | 2 +-
 software/ros_packages/rover_status/package.xml             | 6 +++---
 .../ros_packages/rover_status/src/system_statuses_node.py  | 7 +++++--
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/software/ros_packages/rover_status/CMakeLists.txt b/software/ros_packages/rover_status/CMakeLists.txt
index 0000223..5bed061 100644
--- a/software/ros_packages/rover_status/CMakeLists.txt
+++ b/software/ros_packages/rover_status/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(rover_statuses)
+project(rover_status)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
diff --git a/software/ros_packages/rover_status/package.xml b/software/ros_packages/rover_status/package.xml
index 0750d55..f18eb93 100644
--- a/software/ros_packages/rover_status/package.xml
+++ b/software/ros_packages/rover_status/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>system_statuses</name>
+  <name>rover_status</name>
   <version>0.0.0</version>
-  <description>The system_statuses package</description>
+  <description>The rover_status package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/system_statuses</url> -->
+  <!-- <url type="website">http://wiki.ros.org/rover_status</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
diff --git a/software/ros_packages/rover_status/src/system_statuses_node.py b/software/ros_packages/rover_status/src/system_statuses_node.py
index 0d663b4..d10a9f8 100755
--- a/software/ros_packages/rover_status/src/system_statuses_node.py
+++ b/software/ros_packages/rover_status/src/system_statuses_node.py
@@ -4,7 +4,7 @@ import os.path
 import psutil
 import subprocess
 from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
-
+from rover_control.msg import DriveCommandMessage
 
 class SystemStatuses:
 
@@ -136,7 +136,10 @@ class SystemStatuses:
 
     # Check FrSky Controller Connection Status (WIP)
     def __set_frsky_controller_connection_status(self):
-        self.FrSky_msg.FrSky_controller_connection_status = 0
+        rospy.Subscriber('/rover_control/command_control/iris_drive', DriveCommandMessage, self.__frsky_callback)
+
+    def __frsky_callback(self, data):
+        self.FrSky_msg.FrSky_controller_connection_status = data.controller_present
 
     # Used mainly for init, sets all previous values in one go
     def __update_all_previous_values(self):