safety_area.cpp

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/*
 * Copyright 2014 Nuno Marques.
 *
 * 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 <pluginlib/class_list_macros.h>

#include <geometry_msgs/PolygonStamped.h>

namespace mavplugin {
class SafetyAreaPlugin : public MavRosPlugin {
public:
        SafetyAreaPlugin() :
                safety_nh("~safety_area"),
                uas(nullptr)
        { };

        void initialize(UAS &uas_)
        {
                bool manual_def = false;
                double p1x, p1y, p1z,
                        p2x, p2y, p2z;

                uas = &uas_;

                if (safety_nh.getParam("p1/x", p1x) &&
                                safety_nh.getParam("p1/y", p1y) &&
                                safety_nh.getParam("p1/z", p1z)) {
                        manual_def = true;
                        ROS_DEBUG_NAMED("safetyarea", "SA: Manual set: P1(%f %f %f)",
                                        p1x, p1y, p1z);
                }

                if (manual_def &&
                                safety_nh.getParam("p2/x", p2x) &&
                                safety_nh.getParam("p2/y", p2y) &&
                                safety_nh.getParam("p2/z", p2z)) {
                        manual_def = true;
                        ROS_DEBUG_NAMED("safetyarea", "SA: Manual set: P2(%f %f %f)",
                                        p2x, p2y, p2z);
                }
                else
                        manual_def = false;

                if (manual_def)
                        send_safety_set_allowed_area(
                                        p1x, p1y, p1z,
                                        p2x, p2y, p2z);

                safetyarea_sub = safety_nh.subscribe("set", 10, &SafetyAreaPlugin::safetyarea_cb, this);
        }

        const message_map get_rx_handlers() {
                return { /* Rx disabled */ };
                
        }

private:
        ros::NodeHandle safety_nh;
        UAS *uas;

        ros::Subscriber safetyarea_sub;

        /* -*- low-level send -*- */

        void safety_set_allowed_area(
                        uint8_t coordinate_frame,
                        float p1x, float p1y, float p1z,
                        float p2x, float p2y, float p2z) {
                mavlink_message_t msg;
                mavlink_msg_safety_set_allowed_area_pack_chan(UAS_PACK_CHAN(uas), &msg,
                                UAS_PACK_TGT(uas),
                                coordinate_frame,
                                p1x, p1y, p1z,
                                p2x, p2y, p2z);
                UAS_FCU(uas)->send_message(&msg);
        }

        /* -*- mid-level helpers -*- */

        void send_safety_set_allowed_area(float p1x, float p1y, float p1z,
                        float p2x, float p2y, float p2z) {
                ROS_INFO_NAMED("safetyarea", "SA: Set safty area: P1(%f %f %f) P2(%f %f %f)",
                                p1x, p1y, p1z,
                                p2x, p2y, p2z);

                auto p1 = UAS::transform_frame_enu_ned(Eigen::Vector3d(p1x, p1y, p1z));
                auto p2 = UAS::transform_frame_enu_ned(Eigen::Vector3d(p2x, p2y, p2z));

                safety_set_allowed_area(
                                MAV_FRAME_LOCAL_NED, // TODO: use enum from lib
                                p1.x(), p1.y(), p1.z(),
                                p2.x(), p2.y(), p2.z());
        }

        /* -*- callbacks -*- */

        void safetyarea_cb(const geometry_msgs::PolygonStamped::ConstPtr &req) {
                if (req->polygon.points.size() != 2) {
                        ROS_ERROR_NAMED("safetyarea", "SA: Polygon should contain only two points");
                        return;
                }

                send_safety_set_allowed_area(
                                req->polygon.points[0].x,
                                req->polygon.points[0].y,
                                req->polygon.points[0].z,
                                req->polygon.points[1].x,
                                req->polygon.points[1].y,
                                req->polygon.points[1].z);
        }
};
};      // namespace mavplugin

PLUGINLIB_EXPORT_CLASS(mavplugin::SafetyAreaPlugin, mavplugin::MavRosPlugin)