cellular_status.cpp

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/*
 * Copyright 2021 Jaeyoung Lim.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <mavros/mavros_plugin.h>
#include <mavros_msgs/CellularStatus.h>

namespace mavros {
namespace extra_plugins {
class CellularStatusPlugin : public plugin::PluginBase {
public:
        CellularStatusPlugin() : PluginBase(),
                cc_nh("~cellular_status")
        { }

        void initialize(UAS &uas_)
        {
                PluginBase::initialize(uas_);
                subCellularStatus = cc_nh.subscribe("status", 1, &CellularStatusPlugin::cellularStatusCb, this);
        }

        Subscriptions get_subscriptions() {
                return {};
        }

private:
        ros::NodeHandle cc_nh;
        ros::Subscriber subCellularStatus;

        void cellularStatusCb(const mavros_msgs::CellularStatus &msg)
        {
                mavlink::common::msg::CELLULAR_STATUS cs{};

                cs.status = msg.status;
                cs.failure_reason = msg.failure_reason;
                cs.type = msg.type;
                cs.quality = msg.quality;
                cs.mcc = msg.mcc;
                cs.mnc = msg.mnc;
                cs.lac = msg.lac;

                UAS_FCU(m_uas)->send_message_ignore_drop(cs);
        }
};
}       // namespace std_plugins
}       // namespace mavros

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