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94 lines
3.2 KiB
C++
94 lines
3.2 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 manual_input.h
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* Reads from the ros joystick topic and publishes to the px4 manual control setpoint topic.
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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 <sensor_msgs/Joy.h>
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class ManualInput
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{
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public:
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ManualInput();
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~ManualInput() {}
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protected:
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/**
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* Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
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*/
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void JoyCallback(const sensor_msgs::JoyConstPtr &msg);
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/**
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* Helper function to map and scale joystick axis
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*/
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void MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset, double deadzone,
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float &out);
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/**
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* Helper function to map joystick buttons
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*/
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void MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp);
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ros::NodeHandle _n;
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ros::Subscriber _joy_sub;
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ros::Publisher _man_ctrl_sp_pub;
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/* Parameters */
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enum MAIN_STATE {
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MAIN_STATE_MANUAL = 0,
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MAIN_STATE_ALTCTL,
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MAIN_STATE_POSCTL,
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MAIN_STATE_AUTO_MISSION,
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MAIN_STATE_AUTO_LOITER,
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MAIN_STATE_AUTO_RTL,
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MAIN_STATE_MAX
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};
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int _param_buttons_map[MAIN_STATE_MAX]; /**< joystick button mapping, order according to MAIN_STATE */
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bool _buttons_state[MAIN_STATE_MAX]; /**< joystick button state of last iteration,
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order according to MAIN_STATE */
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int _param_axes_map[4];
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double _param_axes_scale[4];
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double _param_axes_offset[4];
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double _param_axes_dz[4];
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px4::manual_control_setpoint _msg_mc_sp;
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};
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