utils.h

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/*
 * Copyright 2014,2015,2016 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 <Eigen/Geometry>
#include <mavconn/thread_utils.h>
#include <mavros_msgs/mavlink_convert.h>
#include <mavconn/mavlink_dialect.h>

#include <ros/console.h>

// OS X compat: missing error codes
#ifdef __APPLE__
#define EBADE 50        /* Invalid exchange */
#define EBADFD 81       /* File descriptor in bad state */
#define EBADRQC 54      /* Invalid request code */
#define EBADSLT 55      /* Invalid slot */
#endif

namespace mavros {
namespace utils {
using mavconn::utils::format;

enum class timesync_mode {
        NONE = 0,       
        MAVLINK,        
        ONBOARD,
        PASSTHROUGH,
};

template<typename _T>
constexpr typename std::underlying_type<_T>::type enum_value(_T e)
{
        return static_cast<typename std::underlying_type<_T>::type>(e);
}

std::string to_string(timesync_mode e);

std::string to_string(mavlink::common::MAV_SENSOR_ORIENTATION e);

std::string to_string(mavlink::minimal::MAV_AUTOPILOT e);
std::string to_string(mavlink::minimal::MAV_TYPE e);
std::string to_string(mavlink::minimal::MAV_STATE e);
std::string to_string(mavlink::minimal::MAV_COMPONENT e);
std::string to_string(mavlink::common::MAV_ESTIMATOR_TYPE e);
std::string to_string(mavlink::common::ADSB_ALTITUDE_TYPE e);
std::string to_string(mavlink::common::ADSB_EMITTER_TYPE e);
std::string to_string(mavlink::common::MAV_MISSION_RESULT e);
std::string to_string(mavlink::common::MAV_FRAME e);
std::string to_string(mavlink::common::MAV_DISTANCE_SENSOR e);
std::string to_string(mavlink::common::LANDING_TARGET_TYPE e);
template<typename _T>
std::string to_string_enum(int e)
{
        return to_string(static_cast<_T>(e));
}

Eigen::Quaterniond sensor_orientation_matching(mavlink::common::MAV_SENSOR_ORIENTATION orientation);

int sensor_orientation_from_str(const std::string &sensor_orientation);

timesync_mode timesync_mode_from_str(const std::string &mode);

mavlink::common::MAV_FRAME mav_frame_from_str(const std::string &mav_frame);

mavlink::minimal::MAV_TYPE mav_type_from_str(const std::string &mav_type);

mavlink::common::LANDING_TARGET_TYPE landing_target_type_from_str(const std::string &landing_target_type);

}       // namespace utils
}       // namespace mavros