dummy.cpp

/*
 * Copyright 2013 Vladimir Ermakov.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <mavros/mavros_plugin.h>
#include <pluginlib/class_list_macros.h>

namespace mavplugin {

class DummyPlugin : public MavRosPlugin {
public:
        DummyPlugin() {
                ROS_INFO_NAMED("dummy", "dummy constructor");
        };

        void initialize(UAS &uas,
                        ros::NodeHandle &nh,
                        diagnostic_updater::Updater &diag_updater)
        {
                ROS_INFO_NAMED("dummy", "initialize");
        };

        std::string const get_name() const {
                return "Dummy";
        };

        const message_map get_rx_handlers() {
                return {
                        MESSAGE_HANDLER(MAVLINK_MSG_ID_HEARTBEAT, &DummyPlugin::handle_heartbeat),
                        MESSAGE_HANDLER(MAVLINK_MSG_ID_SYS_STATUS, &DummyPlugin::handle_sys_status),
                        MESSAGE_HANDLER(MAVLINK_MSG_ID_STATUSTEXT, &DummyPlugin::handle_statustext)
                };
        }

private:
        void handle_heartbeat(const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) {
                ROS_INFO_NAMED("dummy", "Dummy::handle_heartbeat(%p, %u, %u)",
                                msg, sysid, compid);
        }

        void handle_sys_status(const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) {
                ROS_INFO_NAMED("dummy", "Dummy::handle_sys_status(%p, %u, %u)",
                                msg, sysid, compid);
        }

        void handle_statustext(const mavlink_message_t *msg, uint8_t sysid, uint8_t compid) {
                ROS_INFO_NAMED("dummy", "Dummy::handle_statustext(%p, %u, %u)",
                                msg, sysid, compid);

        }
};

}; // namespace mavplugin

PLUGINLIB_EXPORT_CLASS(mavplugin::DummyPlugin, mavplugin::MavRosPlugin)