dummy.cpp

 
/*
 * Copyright 2013,2016 Vladimir Ermakov.
 *
 * 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>
 
namespace mavros {
namespace std_plugins {
 
class DummyPlugin : public plugin::PluginBase {
public:
        DummyPlugin() : PluginBase(),
                nh("~")
        { }
 
        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);
 
                ROS_INFO_NAMED("dummy", "Dummy::initialize");
        }
 
        Subscriptions get_subscriptions() override {
                return {
                        /* automatic message deduction by second argument */
                        make_handler(&DummyPlugin::handle_heartbeat),
                        make_handler(&DummyPlugin::handle_sys_status),
                        /* handle raw message, check framing! */
                        make_handler(mavlink::common::msg::STATUSTEXT::MSG_ID, &DummyPlugin::handle_statustext_raw),
                        make_handler(&DummyPlugin::handle_statustext),
                };
        }
 
private:
        ros::NodeHandle nh;
 
        void handle_heartbeat(const mavlink::mavlink_message_t *msg, mavlink::minimal::msg::HEARTBEAT &hb) {
                ROS_INFO_STREAM_NAMED("dummy", "Dummy::handle_heartbeat: " << hb.to_yaml());
        }
 
        void handle_sys_status(const mavlink::mavlink_message_t *msg, mavlink::common::msg::SYS_STATUS &st) {
                ROS_INFO_STREAM_NAMED("dummy", "Dummy::handle_sys_status: " << st.to_yaml());
        }
 
        void handle_statustext(const mavlink::mavlink_message_t *msg, mavlink::common::msg::STATUSTEXT &st) {
                ROS_INFO_STREAM_NAMED("dummy", "Dummy::handle_statustext: " << st.to_yaml());
        }
 
        void handle_statustext_raw(const mavlink::mavlink_message_t *msg, const mavconn::Framing f) {
                ROS_INFO_NAMED("dummy", "Dummy::handle_statustext_raw(%p, %d) from %u.%u", (void *)msg, utils::enum_value(f), msg->sysid, msg->compid);
        }
};
 
}       // namespace std_plugins
}       // namespace mavros
 
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::DummyPlugin, mavros::plugin::PluginBase)