time_manager.h

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/*
 * Copyright (c) 2017 Daniel Koch and James Jackson, BYU MAGICC Lab.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#ifndef MAVROSFLIGHT_TIME_MANAGER_H
#define MAVROSFLIGHT_TIME_MANAGER_H

#include <rosflight/mavrosflight/mavlink_bridge.h>
#include <rosflight/mavrosflight/mavlink_comm.h>
#include <rosflight/mavrosflight/mavlink_listener_interface.h>

#include <ros/ros.h>

#include <cstdlib>
#include <stdint.h>

namespace mavrosflight
{

class TimeManager : MavlinkListenerInterface
{
public:
  TimeManager(MavlinkComm *comm);

  virtual void handle_mavlink_message(const mavlink_message_t &msg);

  ros::Time get_ros_time_ms(uint32_t boot_ms);
  ros::Time get_ros_time_us(uint64_t boot_us);

private:
  MavlinkComm *comm_;

  ros::Timer time_sync_timer_;
  void timer_callback(const ros::TimerEvent &event);

  double offset_alpha_;
  int64_t offset_ns_;
  ros::Duration offset_;

  bool initialized_;
};

} // namespace mavrosflight

#endif // MAVROSFLIGHT_TIME_MANAGER_H