safety_area.cpp

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/*
 * Copyright 2014 Nuno Marques.
 *
 * 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 <geometry_msgs/PolygonStamped.h>

namespace mavros {
namespace std_plugins {
class SafetyAreaPlugin : public plugin::PluginBase {
public:
        SafetyAreaPlugin() : PluginBase(),
                safety_nh("~safety_area")
        { }

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

                safety_nh.param<std::string>("frame_id", frame_id, "safety_area");

                bool manual_def = false;
                double p1x, p1y, p1z,
                        p2x, p2y, p2z;

                if (safety_nh.getParam("p1/x", p1x) &&
                                safety_nh.getParam("p1/y", p1y) &&
                                safety_nh.getParam("p1/z", p1z)) {
                        manual_def = true;
                        ROS_DEBUG_NAMED("safetyarea", "SA: Manual set: P1(%f %f %f)",
                                        p1x, p1y, p1z);
                }

                if (manual_def &&
                                safety_nh.getParam("p2/x", p2x) &&
                                safety_nh.getParam("p2/y", p2y) &&
                                safety_nh.getParam("p2/z", p2z)) {
                        manual_def = true;
                        ROS_DEBUG_NAMED("safetyarea", "SA: Manual set: P2(%f %f %f)",
                                        p2x, p2y, p2z);
                }
                else
                        manual_def = false;

                if (manual_def)
                        send_safety_set_allowed_area(
                                        Eigen::Vector3d(p1x, p1y, p1z),
                                        Eigen::Vector3d(p2x, p2y, p2z));

                safetyarea_sub = safety_nh.subscribe("set", 10, &SafetyAreaPlugin::safetyarea_cb, this);
                safetyarea_pub = safety_nh.advertise<geometry_msgs::PolygonStamped>("get",10);
        }

        Subscriptions get_subscriptions() override
        {
                return {
                       make_handler(&SafetyAreaPlugin::handle_safety_allowed_area)
                };
        }

private:
        ros::NodeHandle safety_nh;

        std::string frame_id;

        ros::Subscriber safetyarea_sub;
        ros::Publisher safetyarea_pub;

        /* -*- rx handlers -*- */
        void handle_safety_allowed_area(const mavlink::mavlink_message_t *msg, mavlink::common::msg::SAFETY_ALLOWED_AREA &saa)
        {
                auto saa_msg = boost::make_shared<geometry_msgs::PolygonStamped>();

                Eigen::Vector3d p1(saa.p1x, saa.p1y, saa.p1z);
                Eigen::Vector3d p2(saa.p2x, saa.p2y, saa.p2z);

                p1 = ftf::transform_frame_ned_enu(p1);
                p2 = ftf::transform_frame_ned_enu(p2);

                saa_msg->header.stamp = ros::Time::now();
                saa_msg->header.frame_id = frame_id;
                //saa_msg->header.frame_id = utils::to_string(saa.frame);       @TODO: after #311 merged this will work

                saa_msg->polygon.points.resize(2);
                saa_msg->polygon.points[0].x = p1.x();
                saa_msg->polygon.points[0].y = p1.y();
                saa_msg->polygon.points[0].z = p1.z();
                saa_msg->polygon.points[1].x = p2.x();
                saa_msg->polygon.points[1].y = p2.y();
                saa_msg->polygon.points[1].z = p2.z();

                safetyarea_pub.publish(saa_msg);
        }

        /* -*- mid-level helpers -*- */

        void send_safety_set_allowed_area(Eigen::Vector3d p1, Eigen::Vector3d p2)
        {
                ROS_INFO_STREAM_NAMED("safetyarea", "SA: Set safety area: P1 " << p1 << " P2 " << p2);

                p1 = ftf::transform_frame_enu_ned(p1);
                p2 = ftf::transform_frame_enu_ned(p2);

                mavlink::common::msg::SAFETY_SET_ALLOWED_AREA s = {};
                m_uas->msg_set_target(s);

                // TODO: use enum from lib
                s.frame = utils::enum_value(mavlink::common::MAV_FRAME::LOCAL_NED);

                // [[[cog:
                // for p in range(1, 3):
                //     for v in ('x', 'y', 'z'):
                //         cog.outl("s.p%d%s = p%d.%s();" % (p, v, p, v))
                // ]]]
                s.p1x = p1.x();
                s.p1y = p1.y();
                s.p1z = p1.z();
                s.p2x = p2.x();
                s.p2y = p2.y();
                s.p2z = p2.z();
                // [[[end]]] (checksum: c996a362f338fcc6b714c8be583c3be0)

                UAS_FCU(m_uas)->send_message_ignore_drop(s);
        }

        /* -*- callbacks -*- */

        void safetyarea_cb(const geometry_msgs::PolygonStamped::ConstPtr &req)
        {
                if (req->polygon.points.size() != 2) {
                        ROS_ERROR_NAMED("safetyarea", "SA: Polygon should contain only two points");
                        return;
                }

                // eigen_conversions do not have convertor for Point32
                // [[[cog:
                // for p in range(2):
                //     cog.outl("Eigen::Vector3d p%d(%s);" % (p + 1, ', '.join([
                //         'req->polygon.points[%d].%s' % (p, v) for v in ('x', 'y', 'z')
                //         ])))
                // ]]]
                Eigen::Vector3d p1(req->polygon.points[0].x, req->polygon.points[0].y, req->polygon.points[0].z);
                Eigen::Vector3d p2(req->polygon.points[1].x, req->polygon.points[1].y, req->polygon.points[1].z);
                // [[[end]]] (checksum: c3681d584e02f7d91d6b3b48f87b1771)

                send_safety_set_allowed_area(p1, p2);
        }
};
}       // namespace std_plugins
}       // namespace mavros

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