ros_timer.h

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#ifndef ROSFLIGHT_ROS_TIMER_H
#define ROSFLIGHT_ROS_TIMER_H

#include <rosflight/mavrosflight/timer_interface.h>

#include <ros/ros.h>

#include <memory>
#include <vector>

namespace rosflight
{
class ROSTimer : public mavrosflight::TimerInterface
{
public:
  inline ROSTimer(std::chrono::nanoseconds period,
                  std::function<void()> callback,
                  const bool oneshot,
                  const bool autostart) :
    callback_(callback)
  {
    ros::NodeHandle nh;
    ros_timer_ = nh.createTimer(ros::Duration(0, period.count()), &ROSTimer::callback_ros_, this, oneshot, autostart);
  }

  inline void start() { ros_timer_.start(); }

  inline void stop() { ros_timer_.stop(); }

  inline void callback_ros_(const ros::TimerEvent& event) const { callback_(); };

private:
  ros::Timer ros_timer_;
  std::function<void()> callback_;
};

class ROSTimerProvider : public mavrosflight::TimerProviderInterface
{
public:
  inline std::shared_ptr<mavrosflight::TimerInterface> create_timer(std::chrono::nanoseconds period,
                                                                    std::function<void()> callback,
                                                                    const bool oneshot = false,
                                                                    const bool autostart = true)
  {
    return std::make_shared<ROSTimer>(period, callback, oneshot, autostart);
  }
};

} // namespace rosflight
#endif /* ROSFLIGHT_ROS_TIMER_H */