log_transfer.cpp

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#include <mavros/mavros_plugin.h>
#include <mavros_msgs/LogData.h>
#include <mavros_msgs/LogEntry.h>
#include <mavros_msgs/LogRequestData.h>
#include <mavros_msgs/LogRequestEnd.h>
#include <mavros_msgs/LogRequestList.h>

namespace mavros {
namespace extra_plugins {
class LogTransferPlugin : public plugin::PluginBase {
public:
        LogTransferPlugin() :
                nh("~log_transfer") {}

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

                log_entry_pub = nh.advertise<mavros_msgs::LogEntry>("raw/log_entry", 1000);
                log_data_pub = nh.advertise<mavros_msgs::LogData>("raw/log_data", 1000);

                log_request_list_srv = nh.advertiseService("raw/log_request_list",
                                        &LogTransferPlugin::log_request_list_cb, this);
                log_request_data_srv = nh.advertiseService("raw/log_request_data",
                                        &LogTransferPlugin::log_request_data_cb, this);
                log_request_end_srv = nh.advertiseService("raw/log_request_end",
                                        &LogTransferPlugin::log_request_end_cb, this);
        }

        Subscriptions get_subscriptions() override
        {
                return {
                               make_handler(&LogTransferPlugin::handle_log_entry),
                               make_handler(&LogTransferPlugin::handle_log_data),
                };
        }

private:
        ros::NodeHandle nh;
        ros::Publisher log_entry_pub, log_data_pub;
        ros::ServiceServer log_request_list_srv, log_request_data_srv, log_request_end_srv;

        void handle_log_entry(const mavlink::mavlink_message_t*, mavlink::common::msg::LOG_ENTRY& le)
        {
                auto msg = boost::make_shared<mavros_msgs::LogEntry>();
                msg->header.stamp = ros::Time::now();
                msg->id = le.id;
                msg->num_logs = le.num_logs;
                msg->last_log_num = le.last_log_num;
                msg->time_utc = ros::Time(le.time_utc);
                msg->size = le.size;
                log_entry_pub.publish(msg);
        }

        void handle_log_data(const mavlink::mavlink_message_t*, mavlink::common::msg::LOG_DATA& ld)
        {
                auto msg = boost::make_shared<mavros_msgs::LogData>();
                msg->header.stamp = ros::Time::now();
                msg->id = ld.id;
                msg->offset = ld.ofs;

                auto count = ld.count;
                if (count > ld.data.max_size()) {
                        count = ld.data.max_size();
                }
                msg->data.insert(msg->data.cbegin(), ld.data.cbegin(), ld.data.cbegin() + count);
                log_data_pub.publish(msg);
        }

        bool log_request_list_cb(mavros_msgs::LogRequestList::Request &req,
                                mavros_msgs::LogRequestList::Response &res)
        {
                mavlink::common::msg::LOG_REQUEST_LIST msg;
                m_uas->msg_set_target(msg);
                msg.start = req.start;
                msg.end = req.end;

                res.success = true;
                try {
                        UAS_FCU(m_uas)->send_message(msg);
                } catch (std::length_error&) {
                        res.success = false;
                }
                return true;
        }

        bool log_request_data_cb(mavros_msgs::LogRequestData::Request &req,
                                mavros_msgs::LogRequestData::Response &res)
        {
                mavlink::common::msg::LOG_REQUEST_DATA msg;
                m_uas->msg_set_target(msg);
                msg.id = req.id;
                msg.ofs = req.offset;
                msg.count = req.count;

                res.success = true;
                try {
                        UAS_FCU(m_uas)->send_message(msg);
                } catch (std::length_error&) {
                        res.success = false;
                }
                return true;
        }

        bool log_request_end_cb(mavros_msgs::LogRequestEnd::Request &,
                                mavros_msgs::LogRequestEnd::Response &res)
        {
                mavlink::common::msg::LOG_REQUEST_END msg;
                m_uas->msg_set_target(msg);
                res.success = true;
                try {
                        UAS_FCU(m_uas)->send_message(msg);
                } catch (std::length_error&) {
                        res.success = false;
                }
                return true;
        }
};
}       // namespace extra_plugins
}       // namespace mavros

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