#include <rosflight_io.h>

Inheritance diagram for rosflight_io::rosflightIO:

Public Member Functions
virtual void	handle_mavlink_message (const mavlink_message_t &msg)
	The handler function for mavlink messages to be implemented by derived classes. More...

virtual void	on_new_param_received (std::string name, double value)
	Called when a parameter is received from the autopilot for the first time. More...

virtual void	on_param_value_updated (std::string name, double value)
	Called when an updated value is received for a parameter. More...

virtual void	on_params_saved_change (bool unsaved_changes)
	Called when the status of whether there are unsaved parameters changes. More...

	rosflightIO ()

	~rosflightIO ()

Static Public Attributes
static constexpr float	HEARTBEAT_PERIOD = 1

static constexpr float	PARAMETER_PERIOD = 3

static constexpr float	VERSION_PERIOD = 10

Private Member Functions
void	auxCommandCallback (rosflight_msgs::AuxCommand::ConstPtr msg)

bool	calibrateAirspeedSrvCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	calibrateBaroSrvCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	calibrateImuBiasSrvCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	calibrateRCTrimSrvCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

void	check_error_code (uint8_t current, uint8_t previous, ROSFLIGHT_ERROR_CODE code, std::string name)

void	commandCallback (rosflight_msgs::Command::ConstPtr msg)

void	externalAttitudeCallback (geometry_msgs::Quaternion::ConstPtr msg)

ros::Time	fcu_time_to_ros_time (std::chrono::nanoseconds fcu_time)

std::string	get_major_minor_version (const std::string &version)

void	handle_attitude_quaternion_msg (const mavlink_message_t &msg)

void	handle_battery_status_msg (const mavlink_message_t &msg)

void	handle_command_ack_msg (const mavlink_message_t &msg)

void	handle_diff_pressure_msg (const mavlink_message_t &msg)

void	handle_hard_error_msg (const mavlink_message_t &msg)

void	handle_heartbeat_msg (const mavlink_message_t &msg)

void	handle_named_command_struct_msg (const mavlink_message_t &msg)

void	handle_named_value_float_msg (const mavlink_message_t &msg)

void	handle_named_value_int_msg (const mavlink_message_t &msg)

void	handle_rc_channels_raw_msg (const mavlink_message_t &msg)

void	handle_rosflight_gnss_full_msg (const mavlink_message_t &msg)

void	handle_rosflight_gnss_msg (const mavlink_message_t &msg)

void	handle_rosflight_output_raw_msg (const mavlink_message_t &msg)

void	handle_small_baro_msg (const mavlink_message_t &msg)

void	handle_small_imu_msg (const mavlink_message_t &msg)

void	handle_small_mag_msg (const mavlink_message_t &msg)

void	handle_small_range_msg (const mavlink_message_t &msg)

void	handle_status_msg (const mavlink_message_t &msg)

void	handle_statustext_msg (const mavlink_message_t &msg)

void	handle_version_msg (const mavlink_message_t &msg)

void	heartbeatTimerCallback (const ros::TimerEvent &e)

bool	paramGetSrvCallback (rosflight_msgs::ParamGet::Request &req, rosflight_msgs::ParamGet::Response &res)

bool	paramLoadFromFileCallback (rosflight_msgs::ParamFile::Request &req, rosflight_msgs::ParamFile::Response &res)

bool	paramSaveToFileCallback (rosflight_msgs::ParamFile::Request &req, rosflight_msgs::ParamFile::Response &res)

bool	paramSetSrvCallback (rosflight_msgs::ParamSet::Request &req, rosflight_msgs::ParamSet::Response &res)

void	paramTimerCallback (const ros::TimerEvent &e)

bool	paramWriteSrvCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	rebootSrvCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	rebootToBootloaderSrvCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

void	request_version ()

template<class T >
T	saturate (T value, T min, T max)

void	send_heartbeat ()

void	versionTimerCallback (const ros::TimerEvent &e)

Private Attributes
ros::Publisher	attitude_pub_

geometry_msgs::Quaternion	attitude_quat_

ros::Subscriber	aux_command_sub_

ros::Publisher	baro_pub_

ros::Publisher	battery_status_pub_

ros::ServiceServer	calibrate_airspeed_srv_

ros::ServiceServer	calibrate_baro_srv_

ros::ServiceServer	calibrate_rc_srv_

ros::Subscriber	command_sub_

ros::Publisher	diff_pressure_pub_

ros::Publisher	error_pub_

ros::Publisher	euler_pub_

ros::Subscriber	extatt_sub_

std::string	frame_id_

ros::Publisher	gnss_full_pub_

ros::Publisher	gnss_pub_

ros::Timer	heartbeat_timer_

ros::ServiceServer	imu_calibrate_bias_srv_

ros::ServiceServer	imu_calibrate_temp_srv_

ros::Publisher	imu_pub_

ros::Publisher	imu_temp_pub_

ros::Publisher	lidar_pub_

rosflight::ROSLogger	logger_

ros::Publisher	mag_pub_

mavrosflight::MavlinkComm *	mavlink_comm_

mavrosflight::MavROSflight< rosflight::ROSLogger > *	mavrosflight_

std::map< std::string, ros::Publisher >	named_command_struct_pubs_

std::map< std::string, ros::Publisher >	named_value_float_pubs_

std::map< std::string, ros::Publisher >	named_value_int_pubs_

ros::Publisher	nav_sat_fix_pub_

ros::NodeHandle	nh_

ros::Publisher	output_raw_pub_

ros::ServiceServer	param_get_srv_

ros::ServiceServer	param_load_from_file_srv_

ros::ServiceServer	param_save_to_file_srv_

ros::ServiceServer	param_set_srv_

ros::Timer	param_timer_

ros::ServiceServer	param_write_srv_

mavlink_rosflight_status_t	prev_status_

ros::Publisher	rc_raw_pub_

ros::ServiceServer	reboot_bootloader_srv_

ros::ServiceServer	reboot_srv_

ros::Publisher	sonar_pub_

ros::Publisher	status_pub_

ros::Publisher	temperature_pub_

rosflight::ROSTimeInterface	time_interface_

ros::Publisher	time_reference_pub_

rosflight::ROSTimerProvider	timer_provider_

ros::Publisher	twist_stamped_pub_

ros::Publisher	unsaved_params_pub_

ros::Publisher	version_pub_

ros::Timer	version_timer_

Detailed Description

Definition at line 91 of file rosflight_io.h.

Constructor & Destructor Documentation

rosflight_io::rosflightIO::rosflightIO ( )

Todo:: move this into the MavROSflight constructor

Definition at line 57 of file rosflight_io.cpp.

rosflight_io::rosflightIO::~rosflightIO ( )

Definition at line 148 of file rosflight_io.cpp.

Member Function Documentation

void rosflight_io::rosflightIO::auxCommandCallback ( rosflight_msgs::AuxCommand::ConstPtr msg )

private

Definition at line 951 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::calibrateAirspeedSrvCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 1077 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::calibrateBaroSrvCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 1086 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::calibrateImuBiasSrvCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 1009 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::calibrateRCTrimSrvCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 1019 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::check_error_code	(	uint8_t	current,
		uint8_t	previous,
		ROSFLIGHT_ERROR_CODE	code,
		std::string	name
	)

private

Definition at line 1066 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::commandCallback ( rosflight_msgs::Command::ConstPtr msg )

private

Todo:: these are hard-coded to match right now; may want to replace with something more robust

Definition at line 919 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::externalAttitudeCallback ( geometry_msgs::Quaternion::ConstPtr msg )

private

Definition at line 965 of file rosflight_io.cpp.

ros::Time rosflight_io::rosflightIO::fcu_time_to_ros_time ( std::chrono::nanoseconds fcu_time )

private

Definition at line 705 of file rosflight_io.cpp.

std::string rosflight_io::rosflightIO::get_major_minor_version ( const std::string & version )

private

Definition at line 712 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_attitude_quaternion_msg ( const mavlink_message_t & msg )

private

Definition at line 405 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_battery_status_msg ( const mavlink_message_t & msg )

private

Definition at line 778 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_command_ack_msg ( const mavlink_message_t & msg )

private

Definition at line 359 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_diff_pressure_msg ( const mavlink_message_t & msg )

private

Definition at line 519 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_hard_error_msg ( const mavlink_message_t & msg )

private

Definition at line 759 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_heartbeat_msg ( const mavlink_message_t & msg )

private

Definition at line 254 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_mavlink_message ( const mavlink_message_t & msg )

virtual

The handler function for mavlink messages to be implemented by derived classes.

Parameters

msg	The mavlink message to handle

Implements mavrosflight::MavlinkListenerInterface.

Definition at line 154 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_named_command_struct_msg ( const mavlink_message_t & msg )

private

Definition at line 589 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_named_value_float_msg ( const mavlink_message_t & msg )

private

Definition at line 566 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_named_value_int_msg ( const mavlink_message_t & msg )

private

Definition at line 543 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_rc_channels_raw_msg ( const mavlink_message_t & msg )

private

Definition at line 495 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_rosflight_gnss_full_msg ( const mavlink_message_t & msg )

private

Definition at line 880 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_rosflight_gnss_msg ( const mavlink_message_t & msg )

private

Definition at line 794 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_rosflight_output_raw_msg ( const mavlink_message_t & msg )

private

Definition at line 476 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_small_baro_msg ( const mavlink_message_t & msg )

private

Definition at line 622 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_small_imu_msg ( const mavlink_message_t & msg )

private

Definition at line 442 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_small_mag_msg ( const mavlink_message_t & msg )

private

Todo:: calibration, correct units, floating point message type

Definition at line 646 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_small_range_msg ( const mavlink_message_t & msg )

private

Definition at line 667 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_status_msg ( const mavlink_message_t & msg )

private

Definition at line 259 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_statustext_msg ( const mavlink_message_t & msg )

private

Definition at line 374 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::handle_version_msg ( const mavlink_message_t & msg )

private

Definition at line 722 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::heartbeatTimerCallback ( const ros::TimerEvent & e )

private

Definition at line 1048 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::on_new_param_received	(	std::string	name,
		double	value
	)

virtual

Called when a parameter is received from the autopilot for the first time.

Parameters

name	The name of the parameter
value	The value of the parameter

Implements mavrosflight::ParamListenerInterface.

Definition at line 228 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::on_param_value_updated	(	std::string	name,
		double	value
	)

virtual

Called when an updated value is received for a parameter.

Parameters

name	The name of the parameter
value	The updated value of the parameter

Implements mavrosflight::ParamListenerInterface.

Definition at line 233 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::on_params_saved_change ( bool unsaved_changes )

virtual

Called when the status of whether there are unsaved parameters changes.

Parameters

unsaved_changes True if there are parameters that have been set but not saved on the autopilot

Implements mavrosflight::ParamListenerInterface.

Definition at line 238 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::paramGetSrvCallback	(	rosflight_msgs::ParamGet::Request &	req,
		rosflight_msgs::ParamGet::Response &	res
	)

private

Definition at line 972 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::paramLoadFromFileCallback	(	rosflight_msgs::ParamFile::Request &	req,
		rosflight_msgs::ParamFile::Response &	res
	)

private

Definition at line 1002 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::paramSaveToFileCallback	(	rosflight_msgs::ParamFile::Request &	req,
		rosflight_msgs::ParamFile::Response &	res
	)

private

Definition at line 995 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::paramSetSrvCallback	(	rosflight_msgs::ParamSet::Request &	req,
		rosflight_msgs::ParamSet::Response &	res
	)

private

Definition at line 978 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::paramTimerCallback ( const ros::TimerEvent & e )

private

Definition at line 1028 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::paramWriteSrvCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 984 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::rebootSrvCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 1095 of file rosflight_io.cpp.

bool rosflight_io::rosflightIO::rebootToBootloaderSrvCallback	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 1104 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::request_version ( )

private

Definition at line 1053 of file rosflight_io.cpp.

template<class T >

T rosflight_io::rosflightIO::saturate	(	T	value,
		T	min,
		T	max
	)

inlineprivate

Definition at line 161 of file rosflight_io.h.

void rosflight_io::rosflightIO::send_heartbeat ( )

private

Definition at line 1059 of file rosflight_io.cpp.

void rosflight_io::rosflightIO::versionTimerCallback ( const ros::TimerEvent & e )

private

Definition at line 1043 of file rosflight_io.cpp.

Member Data Documentation

ros::Publisher rosflight_io::rosflightIO::attitude_pub_

private

Definition at line 187 of file rosflight_io.h.

geometry_msgs::Quaternion rosflight_io::rosflightIO::attitude_quat_

private

Definition at line 215 of file rosflight_io.h.

ros::Subscriber rosflight_io::rosflightIO::aux_command_sub_

private

Definition at line 169 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::baro_pub_

private

Definition at line 179 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::battery_status_pub_

private

Definition at line 193 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::calibrate_airspeed_srv_

private

Definition at line 207 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::calibrate_baro_srv_

private

Definition at line 206 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::calibrate_rc_srv_

private

Definition at line 205 of file rosflight_io.h.

ros::Subscriber rosflight_io::rosflightIO::command_sub_

private

Definition at line 168 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::diff_pressure_pub_

private

Definition at line 177 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::error_pub_

private

Definition at line 192 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::euler_pub_

private

Definition at line 188 of file rosflight_io.h.

ros::Subscriber rosflight_io::rosflightIO::extatt_sub_

private

Definition at line 170 of file rosflight_io.h.

std::string rosflight_io::rosflightIO::frame_id_

private

Definition at line 218 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::gnss_full_pub_

private

Definition at line 182 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::gnss_pub_

private

Definition at line 181 of file rosflight_io.h.

constexpr float rosflight_io::rosflightIO::HEARTBEAT_PERIOD = 1

static

Definition at line 103 of file rosflight_io.h.

ros::Timer rosflight_io::rosflightIO::heartbeat_timer_

private

Definition at line 213 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::imu_calibrate_bias_srv_

private

Definition at line 203 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::imu_calibrate_temp_srv_

private

Definition at line 204 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::imu_pub_

private

Definition at line 173 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::imu_temp_pub_

private

Definition at line 174 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::lidar_pub_

private

Definition at line 191 of file rosflight_io.h.

rosflight::ROSLogger rosflight_io::rosflightIO::logger_

private

Definition at line 223 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::mag_pub_

private

Definition at line 186 of file rosflight_io.h.

mavrosflight::MavlinkComm* rosflight_io::rosflightIO::mavlink_comm_

private

Definition at line 220 of file rosflight_io.h.

mavrosflight::MavROSflight<rosflight::ROSLogger>* rosflight_io::rosflightIO::mavrosflight_

private

Definition at line 221 of file rosflight_io.h.

std::map<std::string, ros::Publisher> rosflight_io::rosflightIO::named_command_struct_pubs_

private

Definition at line 196 of file rosflight_io.h.

std::map<std::string, ros::Publisher> rosflight_io::rosflightIO::named_value_float_pubs_

private

Definition at line 195 of file rosflight_io.h.

std::map<std::string, ros::Publisher> rosflight_io::rosflightIO::named_value_int_pubs_

private

Definition at line 194 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::nav_sat_fix_pub_

private

Definition at line 183 of file rosflight_io.h.

ros::NodeHandle rosflight_io::rosflightIO::nh_

private

Definition at line 166 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::output_raw_pub_

private

Definition at line 175 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::param_get_srv_

private

Definition at line 198 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::param_load_from_file_srv_

private

Definition at line 202 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::param_save_to_file_srv_

private

Definition at line 201 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::param_set_srv_

private

Definition at line 199 of file rosflight_io.h.

ros::Timer rosflight_io::rosflightIO::param_timer_

private

Definition at line 211 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::param_write_srv_

private

Definition at line 200 of file rosflight_io.h.

constexpr float rosflight_io::rosflightIO::PARAMETER_PERIOD = 3

static

Definition at line 105 of file rosflight_io.h.

mavlink_rosflight_status_t rosflight_io::rosflightIO::prev_status_

private

Definition at line 216 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::rc_raw_pub_

private

Definition at line 176 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::reboot_bootloader_srv_

private

Definition at line 209 of file rosflight_io.h.

ros::ServiceServer rosflight_io::rosflightIO::reboot_srv_

private

Definition at line 208 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::sonar_pub_

private

Definition at line 180 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::status_pub_

private

Definition at line 189 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::temperature_pub_

private

Definition at line 178 of file rosflight_io.h.

rosflight::ROSTimeInterface rosflight_io::rosflightIO::time_interface_

private

Definition at line 224 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::time_reference_pub_

private

Definition at line 185 of file rosflight_io.h.

rosflight::ROSTimerProvider rosflight_io::rosflightIO::timer_provider_

private

Definition at line 225 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::twist_stamped_pub_

private

Definition at line 184 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::unsaved_params_pub_

private

Definition at line 172 of file rosflight_io.h.

constexpr float rosflight_io::rosflightIO::VERSION_PERIOD = 10

static

Definition at line 104 of file rosflight_io.h.

ros::Publisher rosflight_io::rosflightIO::version_pub_

private

Definition at line 190 of file rosflight_io.h.

ros::Timer rosflight_io::rosflightIO::version_timer_

private

Definition at line 212 of file rosflight_io.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation