message_publisher.h

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#ifndef SBG_ROS_MESSAGE_PUBLISHER_H
#define SBG_ROS_MESSAGE_PUBLISHER_H
 
// Project headers
#include <config_store.h>
#include <message_wrapper.h>
 
namespace sbg
{
class MessagePublisher
{
private:
 
  ros::Publisher          sbg_status_pub_;
  ros::Publisher          sbg_utc_time_pub_;
  ros::Publisher          sbg_imu_data_pub_;
  ros::Publisher          sbg_ekf_ruler_pub_;
  ros::Publisher          sbg_ekf_quat_pub_;
  ros::Publisher          sbg_ekf_nav_pub_;
  ros::Publisher          sbg_ship_motion_pub_;
  ros::Publisher          sbg_mag_pub_;
  ros::Publisher          sbg_mag_calib_pub_;
  ros::Publisher          sbg_gps_vel_pub_;
  ros::Publisher          sbg_gps_pos_pub_;
  ros::Publisher          sbg_gps_hdt_pub_;
  ros::Publisher          sbg_gps_raw_pub_;
  ros::Publisher          sbg_odo_vel_pub_;
  ros::Publisher          sbg_event_A_pub_;
  ros::Publisher          sbg_event_B_pub_;
  ros::Publisher          sbg_event_C_pub_;
  ros::Publisher          sbg_event_D_pub_;
  ros::Publisher          sbg_event_E_pub_;
  ros::Publisher          sbg_imu_short_pub_;
  ros::Publisher          sbg_air_data_pub_;
 
  ros::Publisher          imu_pub_;
  sbg_driver::SbgImuData  sbg_imu_message_;
  sbg_driver::SbgEkfQuat  sbg_ekf_quat_message_;
  sbg_driver::SbgEkfNav   sbg_ekf_nav_message_;
  sbg_driver::SbgEkfEuler sbg_ekf_euler_message_;
 
  ros::Publisher          temp_pub_;
  ros::Publisher          mag_pub_;
  ros::Publisher          fluid_pub_;
  ros::Publisher          pos_ecef_pub_;
  ros::Publisher          velocity_pub_;
  ros::Publisher          utc_reference_pub_;
  ros::Publisher          nav_sat_fix_pub_;
  ros::Publisher          odometry_pub_;
 
  ros::Publisher          nmea_gga_pub_;
 
  MessageWrapper          message_wrapper_;
  uint32_t                max_messages_;
  std::string             frame_id_;
 
  //---------------------------------------------------------------------//
  //- Private methods                                                   -//
  //---------------------------------------------------------------------//
 
  std::string getOutputTopicName(SbgEComMsgId sbg_message_id) const;
 
  void initPublisher(ros::NodeHandle& ref_ros_node_handle, SbgEComMsgId sbg_msg_id, SbgEComOutputMode output_conf, const std::string &ref_output_topic);
 
  void defineRosStandardPublishers(ros::NodeHandle& ref_ros_node_handle, bool odom_enable, bool enu_enable);
 
  void publishIMUData(const SbgBinaryLogData &ref_sbg_log);
 
  void processRosVelMessage();
 
  void processRosImuMessage();
 
  void processRosOdoMessage();
 
  void publishMagData(const SbgBinaryLogData &ref_sbg_log);
 
  void publishFluidPressureData(const SbgBinaryLogData &ref_sbg_log);
 
  void publishEkfNavigationData(const SbgBinaryLogData &ref_sbg_log);
 
  void publishUtcData(const SbgBinaryLogData &ref_sbg_log);
 
  void publishGpsPosData(const SbgBinaryLogData &ref_sbg_log, SbgEComMsgId sbg_msg_id);
 
public:
 
  //---------------------------------------------------------------------//
  //- Constructor                                                       -//
  //---------------------------------------------------------------------//
 
  MessagePublisher();
 
  //---------------------------------------------------------------------//
  //- Operations                                                        -//
  //---------------------------------------------------------------------//
 
  void initPublishers(ros::NodeHandle& ref_ros_node_handle, const ConfigStore &ref_config_store);
 
  void publish(SbgEComClass sbg_msg_class, SbgEComMsgId sbg_msg_id, const SbgBinaryLogData &ref_sbg_log);
};
}
 
#endif // SBG_ROS_MESSAGE_PUBLISHER_H