SensorHandlers.hpp

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#ifndef SENSORHANDLERS_HPP_
#define SENSORHANDLERS_HPP_
#include <labust/math/NumberManipulation.hpp>

#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <std_msgs/Bool.h>
#include <geometry_msgs/TwistStamped.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <ros/ros.h>

#include <Eigen/Dense>

namespace labust
{
        namespace navigation
        {

                struct NewArrived
                {
                        NewArrived():isNew(false){};

                        inline bool newArrived()
                        {
                                if (isNew)
                                {
                                        isNew=false;
                                        return true;
                                }
                                return false;
                        }

                protected:
                        bool isNew;
                };
                class GPSHandler : public NewArrived
                {
                public:
                        GPSHandler():listener(buffer){};
                        void configure(ros::NodeHandle& nh);

                        inline const std::pair<double, double>&
                        position() const {return posxy;}

                        inline const std::pair<double, double>&
                        origin() const {return originLL;}

                        inline const std::pair<double, double>&
                        latlon() const  {return posLL;}
                        
                        void setRotation(const Eigen::Quaternion<double>& quat){this->rot = quat;};

                private:
                        void onGps(const sensor_msgs::NavSatFix::ConstPtr& data);
                        std::pair<double, double> posxy, originLL, posLL;
                        tf2_ros::Buffer buffer;
                        tf2_ros::TransformListener listener;
                        ros::Subscriber gps;
                        Eigen::Quaternion<double> rot;
                };

                class ImuHandler : public NewArrived
                {
                public:
                        enum {roll=0, pitch, yaw};
                        enum {p=0,q,r};
                        enum {ax,ay,az};

                        ImuHandler():listener(buffer),gps(0){};
                        
                        void setGpsHandler(GPSHandler* gps){this->gps = gps;};

                        void configure(ros::NodeHandle& nh);

                        inline const double* orientation() const{return rpy;}

                        inline const double* rate() const{return pqr;}

                        inline const double* acc() const{return axyz;}

                private:
                        void onImu(const sensor_msgs::Imu::ConstPtr& data);
                        tf2_ros::Buffer buffer;
                        tf2_ros::TransformListener listener;
                        labust::math::unwrap unwrap;
                        ros::Subscriber imu;
                        double rpy[3], pqr[3], axyz[3];
                        GPSHandler* gps;
                };

                class DvlHandler : public NewArrived
                {
                public:
                        enum {u=0,v,w};

                        DvlHandler():r(0),listener(buffer),bottom_lock(false){};

                        void configure(ros::NodeHandle& nh);

                        inline const double* body_speeds() const {return uvw;};

                        inline void current_r(double yaw_rate) {r = yaw_rate;};

                private:
                        void onDvl(const geometry_msgs::TwistStamped::ConstPtr& data);
                        void onBottomLock(const std_msgs::Bool::ConstPtr& data);
                        double uvw[3], r;
                        bool bottom_lock;
                        ros::Subscriber nu_dvl, dvl_bottom;
                        tf2_ros::Buffer buffer;
                        tf2_ros::TransformListener listener;
                };
        }
}
/* SENSORHANDLERS_HPP_ */
#endif