dummy.cpp

/*
 * Copyright 2013 Vladimir Ermakov.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

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

namespace mavplugin {
class DummyPlugin : public MavRosPlugin {
public:
        DummyPlugin() :
                nh("~"),
                uas(nullptr)
        { };

        void initialize(UAS &uas_)
        {
                uas = &uas_;

                ROS_INFO_NAMED("dummy", "initialize");
        }

        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:
        ros::NodeHandle nh;
        UAS *uas;

        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)