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88 lines
3.1 KiB
C++
88 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file commander.h
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* Dummy commander node that publishes the various status topics
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "ros/ros.h"
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#include <px4/manual_control_setpoint.h>
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#include <px4/vehicle_control_mode.h>
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#include <px4/vehicle_status.h>
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#include <px4/parameter_update.h>
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#include <px4/actuator_armed.h>
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#include <px4/offboard_control_mode.h>
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class Commander
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{
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public:
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Commander();
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~Commander() {}
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protected:
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/**
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* Based on manual control input the status will be set
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*/
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void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg);
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/**
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* Stores the offboard control mode
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*/
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void OffboardControlModeCallback(const px4::offboard_control_modeConstPtr &msg);
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/**
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* Set control mode flags based on stick positions (equiv to code in px4 commander)
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*/
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void EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
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px4::vehicle_status &msg_vehicle_status,
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px4::vehicle_control_mode &msg_vehicle_control_mode);
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ros::NodeHandle _n;
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ros::Subscriber _man_ctrl_sp_sub;
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ros::Subscriber _offboard_control_mode_sub;
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ros::Publisher _vehicle_control_mode_pub;
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ros::Publisher _actuator_armed_pub;
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ros::Publisher _vehicle_status_pub;
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ros::Publisher _parameter_update_pub;
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px4::parameter_update _msg_parameter_update;
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px4::actuator_armed _msg_actuator_armed;
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px4::vehicle_control_mode _msg_vehicle_control_mode;
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px4::offboard_control_mode _msg_offboard_control_mode;
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};
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