actuator_control.cpp

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/*
 * Copyright 2015 Marcel Stüttgen <stuettgen@fh-aachen.de>
 *
 * 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 <mavros_msgs/ActuatorControl.h>

namespace mavros {
namespace std_plugins {
class ActuatorControlPlugin : public plugin::PluginBase {
public:
        ActuatorControlPlugin() : PluginBase(),
                nh("~")
        { }

        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);

                target_actuator_control_pub = nh.advertise<mavros_msgs::ActuatorControl>("target_actuator_control", 10);
                actuator_control_sub = nh.subscribe("actuator_control", 10, &ActuatorControlPlugin::actuator_control_cb, this);
        }

        Subscriptions get_subscriptions() override
        {
                return {
                               make_handler(&ActuatorControlPlugin::handle_actuator_control_target),
                };
        }

private:
        ros::NodeHandle nh;

        ros::Publisher target_actuator_control_pub;
        ros::Subscriber actuator_control_sub;

        /* -*- rx handlers -*- */

        void handle_actuator_control_target(const mavlink::mavlink_message_t *msg, mavlink::common::msg::ACTUATOR_CONTROL_TARGET &actuator_control_target)
        {
                auto actuator_control_target_msg = boost::make_shared<mavros_msgs::ActuatorControl>();
                actuator_control_target_msg->header.stamp = m_uas->synchronise_stamp(actuator_control_target.time_usec);

                actuator_control_target_msg->group_mix = actuator_control_target.group_mlx;
                const auto &arr = actuator_control_target.controls;
                std::copy(arr.cbegin(), arr.cend(), actuator_control_target_msg->controls.begin());

                target_actuator_control_pub.publish(actuator_control_target_msg);
        }

        /* -*- callbacks -*- */

        void actuator_control_cb(const mavros_msgs::ActuatorControl::ConstPtr &req) {
                mavlink::common::msg::SET_ACTUATOR_CONTROL_TARGET act{};

                act.time_usec = req->header.stamp.toNSec() / 1000;
                act.group_mlx = req->group_mix;
                act.target_system = m_uas->get_tgt_system();
                act.target_component = m_uas->get_tgt_component();
                std::copy(req->controls.begin(), req->controls.end(), act.controls.begin());    // std::array = boost::array

                UAS_FCU(m_uas)->send_message_ignore_drop(act);
        }
};
}       // namespace std_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::ActuatorControlPlugin, mavros::plugin::PluginBase)