mavros_plugin.h

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/*
 * Copyright 2013 Vladimir Ermakov.
 *
 * 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; either version 3 of the License, or
 * (at your option) any later version.
 *
 * 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, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#pragma once

#include <map>
#include <diagnostic_updater/diagnostic_updater.h>
#include <mavconn/interface.h>
#include <mavros/mavros_uas.h>

namespace mavplugin {
using mavros::UAS;
typedef std::lock_guard<std::recursive_mutex> lock_guard;
typedef std::unique_lock<std::recursive_mutex> unique_lock;

#define MESSAGE_HANDLER(_message_id, _class_method_ptr) \
        { _message_id, boost::bind(_class_method_ptr, this, _1, _2, _3) }

class MavRosPlugin
{
private:
        MavRosPlugin(const MavRosPlugin&) = delete;

public:
        typedef boost::function<void(const mavlink_message_t *msg, uint8_t sysid, uint8_t compid)>
                message_handler;
        typedef std::map<uint8_t, message_handler> message_map;
        // pluginlib return boost::shared_ptr
        typedef boost::shared_ptr<MavRosPlugin> Ptr;
        typedef boost::shared_ptr<MavRosPlugin const> ConstPtr;

        virtual ~MavRosPlugin() {};

        virtual void initialize(UAS &uas,
                        ros::NodeHandle &nh,
                        diagnostic_updater::Updater &diag_updater) = 0;

        virtual const std::string get_name() const = 0;

        virtual const message_map get_rx_handlers() = 0;

protected:
        MavRosPlugin() {};
};

}; // namespace mavplugin