control_mode_idle.cpp

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#include "flyer_controller/control_mode.h"

using namespace flyer_controller::ControlModeTypes;

namespace flyer_controller
{
class ControlModeIdle : public ControlMode
{

public:
  ControlModeIdle()
  {
  }

  void onInit()
  {
    ROS_INFO("ControlModeIdle onInit() called");
    ControlMode::onInit();
    requestRegistration("idle");
    ready = true; // idle mode is always ready for inaction!
  }

private:
  void controlModeCmdCallback(const control_mode_cmdConstPtr& msg)
  {
    NODELET_INFO_STREAM("Heard command: " << msg->cmd);
    if (msg->cmd == "mode idle")
    {
      state = IDLE;
      info = "";
    }
    else if (msg->cmd == "mode standby")
    {
      state = STANDBY;
      info = "";
    }
    else if (msg->cmd == "mode active")
    {
      if (state == STANDBY)
      {
        state = ACTIVE;
        info = "";
      }
      else
      {
        ROS_ERROR("Invalid transition");
      }
    }
    else
    {
      ROS_ERROR_STREAM("Command unknown: " << msg->cmd);
    }
  }

  void outputControl()
  {
    //ROS_INFO_STREAM(__PRETTY_FUNCTION__);
    control_mode_outputPtr output_msg(new control_mode_output);
    output_msg->control_mode = "idle";
    output_msg->motors_on = false;
    output_msg->direct_yaw_rate_commands = false;
    output_msg->yaw_cmd = 0;
    output_msg->yaw_rate_cmd = 0; //std::numeric_limits<double>::quiet_NaN();
    output_msg->direct_thrust_commands = true;
    output_msg->thrust_cmd = 0;
    output_msg->alt_cmd = 0;
    output_msg->header.stamp = ros::Time::now();
    switch (state)
    {
      case ControlModeTypes::STANDBY:
        output_pub.publish(output_msg);
        break;
      case ControlModeTypes::ACTIVE:
        output_pub.publish(output_msg);
        break;
      default:
        break;
    }
  }

}; // class
PLUGINLIB_DECLARE_CLASS(flyer_controller, ControlModeIdle, flyer_controller::ControlModeIdle, nodelet::Nodelet)
;

} // namespace