spatial_ros_i.h

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * 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 OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef PHIDGETS_SPATIAL_SPATIAL_ROS_I_H
#define PHIDGETS_SPATIAL_SPATIAL_ROS_I_H
 
#include <memory>
#include <mutex>
#include <string>
 
#include <ros/ros.h>
#include <ros/service_server.h>
#include <std_srvs/Empty.h>
 
#include "phidgets_api/spatial.h"
 
namespace phidgets {
 
const float G = 9.80665;
 
class SpatialRosI final
{
  public:
    explicit SpatialRosI(ros::NodeHandle nh, ros::NodeHandle nh_private);
 
  private:
    ros::NodeHandle nh_;
    ros::NodeHandle nh_private_;
    std::string frame_id_;
    std::mutex spatial_mutex_;
    void timerCallback(const ros::TimerEvent &event);
    ros::Timer timer_;
    int publish_rate_;
    std::string server_name_;
    std::string server_ip_;
    ros::Publisher cal_publisher_;
    ros::ServiceServer cal_srv_;
    ros::Publisher imu_pub_;
    ros::Publisher magnetic_field_pub_;
 
    ros::Time ros_time_zero_;
    bool synchronize_timestamps_{true};
    uint64_t data_time_zero_ns_{0};
    uint64_t last_data_timestamp_ns_{0};
    uint64_t last_ros_stamp_ns_{0};
    int64_t time_resync_interval_ns_{0};
    int64_t data_interval_ns_{0};
    bool can_publish_{false};
    ros::Time last_cb_time_;
    int64_t cb_delta_epsilon_ns_{0};
 
    void calibrate();
 
    bool calibrateService(std_srvs::Empty::Request &req,
                          std_srvs::Empty::Response &res);
 
    std::unique_ptr<Spatial> spatial_;
 
    // Accelerometer
    double linear_acceleration_variance_;
    double last_accel_x_;
    double last_accel_y_;
    double last_accel_z_;
 
    // Gyroscope
    double angular_velocity_variance_;
    double last_gyro_x_;
    double last_gyro_y_;
    double last_gyro_z_;
 
    // Magnetometer
    double magnetic_field_variance_;
    double last_mag_x_;
    double last_mag_y_;
    double last_mag_z_;
 
    // Onboard orientation estimation results
    double last_quat_w_;
    double last_quat_x_;
    double last_quat_y_;
    double last_quat_z_;
 
    void publishLatest();
 
    void spatialDataCallback(const double acceleration[3],
                             const double angular_rate[3],
                             const double magnetic_field[3], double timestamp);
    void spatialAlgorithmDataCallback(const double quaternion[4],
                                      double timestamp);
    void attachCallback();
    void detachCallback();
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_SPATIAL_SPATIAL_ROS_I_H