actuators.cpp

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/*
 * Copyright (c) 2020-2023 RaccoonLab.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
 */

#include "actuators.hpp"


void Actuators::actuatorsCallback(sensor_msgs::Joy::Ptr msg){
    prevActuatorsTimestampUsec_ = lastActuatorsTimestampUsec_;
    lastActuatorsTimestampUsec_ = msg->header.stamp.toNSec() / 1000;
    auto crntDelayUsec = lastActuatorsTimestampUsec_ - prevActuatorsTimestampUsec_;
    if(crntDelayUsec > maxDelayUsec_){
        maxDelayUsec_ = crntDelayUsec;
    }
    actuatorsMsgCounter_++;

    for(size_t idx = 0; idx < msg->axes.size(); idx++){
        _actuators[idx] = msg->axes[idx];
    }

    if (_scenarioType == 1) {
        _actuators[7] = 0.0;
    }
}

void Actuators::armCallback(std_msgs::Bool msg){
    if(armed_ != msg.data){
        ROS_INFO_STREAM_THROTTLE(1, "cmd: " << (msg.data ? "Arm" : "Disarm"));
    }
    armed_ = msg.data;
}