Program Listing for File gimbal.hpp

↰ Return to documentation for file (include/psdk_wrapper/modules/gimbal.hpp)

/*
 * Copyright (C) 2024 Unmanned Life
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */

#ifndef PSDK_WRAPPER_INCLUDE_PSDK_WRAPPER_MODULES_GIMBAL_HPP_
#define PSDK_WRAPPER_INCLUDE_PSDK_WRAPPER_MODULES_GIMBAL_HPP_

#include <dji_gimbal_manager.h>  //NOLINT

#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include <string>

#include "psdk_interfaces/msg/gimbal_rotation.hpp"
#include "psdk_interfaces/srv/gimbal_reset.hpp"
#include "psdk_interfaces/srv/gimbal_set_mode.hpp"
#include "psdk_wrapper/utils/psdk_wrapper_utils.hpp"

namespace psdk_ros2
{

class GimbalModule : public rclcpp_lifecycle::LifecycleNode
{
 public:
  using GimbalSetMode = psdk_interfaces::srv::GimbalSetMode;
  using GimbalReset = psdk_interfaces::srv::GimbalReset;

  explicit GimbalModule(const std::string& name);

  ~GimbalModule();

  CallbackReturn on_configure(const rclcpp_lifecycle::State& state);

  CallbackReturn on_activate(const rclcpp_lifecycle::State& state);
  CallbackReturn on_cleanup(const rclcpp_lifecycle::State& state);
  CallbackReturn on_deactivate(const rclcpp_lifecycle::State& state);
  CallbackReturn on_shutdown(const rclcpp_lifecycle::State& state);

  bool init();

  bool deinit();

 private:
  void gimbal_rotation_cb(
      const psdk_interfaces::msg::GimbalRotation::SharedPtr msg);

  void gimbal_set_mode_cb(
      const std::shared_ptr<GimbalSetMode::Request> request,
      const std::shared_ptr<GimbalSetMode::Response> response);
  void gimbal_reset_cb(const std::shared_ptr<GimbalReset::Request> request,
                       const std::shared_ptr<GimbalReset::Response> response);

  rclcpp::Subscription<psdk_interfaces::msg::GimbalRotation>::SharedPtr
      gimbal_rotation_sub_;
  rclcpp::Service<GimbalSetMode>::SharedPtr gimbal_set_mode_service_;
  rclcpp::Service<GimbalReset>::SharedPtr gimbal_reset_service_;

  const rmw_qos_profile_t& qos_profile_{rmw_qos_profile_services_default};

  bool is_module_initialized_{false};
};

}  // namespace psdk_ros2

#endif  // PSDK_WRAPPER_INCLUDE_PSDK_WRAPPER_MODULES_GIMBAL_HPP_