mavros.h

Go to the documentation of this file.

/*
 * Copyright 2014,2015 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
 */

#pragma once

#include <array>
#include <ros/ros.h>
#include <pluginlib/class_loader.h>
#include <mavconn/interface.h>
#include <mavros/mavros_plugin.h>
#include <mavros/mavlink_diag.h>
#include <mavros/utils.h>

namespace mavros {
class MavRos
{
public:
        MavRos();
        ~MavRos() {};

        void spin();

private:
        ros::NodeHandle mavlink_nh;
        // fcu_link stored in mav_uas
        mavconn::MAVConnInterface::Ptr gcs_link;

        ros::Publisher mavlink_pub;
        ros::Subscriber mavlink_sub;

        MavlinkDiag fcu_link_diag;
        MavlinkDiag gcs_link_diag;

        pluginlib::ClassLoader<mavplugin::MavRosPlugin> plugin_loader;
        std::vector<mavplugin::MavRosPlugin::Ptr> loaded_plugins;
        std::array<mavconn::MAVConnInterface::MessageSig, 256> message_route_table;
        UAS mav_uas;

        void mavlink_pub_cb(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid);
        void mavlink_sub_cb(const mavros_msgs::Mavlink::ConstPtr &rmsg);

        void plugin_route_cb(const mavlink_message_t *mmsg, uint8_t sysid, uint8_t compid);

        bool is_blacklisted(std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist);
        void add_plugin(std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist);

        void terminate_cb();
        void startup_px4_usb_quirk(void);
        void log_connect_change(bool connected);
};
};      // namespace mavros