RosThread.h

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#pragma once

#ifndef __ROSTHREAD_H
#define __ROSTHREAD_H
 
 

#include "cvd/thread.h"
#include "tum_ardrone/filter_state.h"
#include "std_msgs/String.h"
#include "geometry_msgs/Twist.h"
#include "ardrone_autonomy/Navdata.h"
#include "ros/ros.h"
#include "sensor_msgs/Joy.h"
#include "std_srvs/Empty.h"
#include "std_msgs/Empty.h"

class tum_ardrone_gui;

struct ControlCommand
{
        inline ControlCommand() {roll = pitch = yaw = gaz = 0;}
        inline ControlCommand(double roll, double pitch, double yaw, double gaz)
        {
                this->roll = roll;
                this->pitch = pitch;
                this->yaw = yaw;
                this->gaz = gaz;
        }
        double yaw, roll, pitch, gaz;
};

class RosThread : private CVD::Thread
{
private:
        // the associated thread's run function.
        void run();

        // keep Running
        bool keepRunning;

        // ros stuff
        ros::Subscriber dronepose_sub;
        ros::Publisher vel_pub;
        ros::Subscriber vel_sub;
        ros::Subscriber tum_ardrone_sub;
        ros::Publisher tum_ardrone_pub;
        ros::Subscriber navdata_sub;
        ros::Subscriber joy_sub;
        ros::Publisher takeoff_pub;
        ros::Publisher land_pub;
        ros::Publisher toggleState_pub;
        ros::ServiceClient toggleCam_srv;
        std_srvs::Empty toggleCam_srv_srvs;
        ros::ServiceClient flattrim_srv;
        std_srvs::Empty flattrim_srv_srvs;
        ros::Subscriber takeoff_sub;
        ros::Subscriber land_sub;
        ros::Subscriber toggleState_sub;


        ros::NodeHandle nh_;

        // counters for Hz
        unsigned int dronePoseCount;
        unsigned int velCount;
        unsigned int navdataCount;
        unsigned int joyCount;
        unsigned int velCount100ms;

        static pthread_mutex_t send_CS;
public:
        RosThread(void);
        ~RosThread(void);

        // start and stop system and respective thread.
        // to be called externally
        void startSystem();
        void stopSystem();

        tum_ardrone_gui* gui;


        // callbacks
        void droneposeCb(const tum_ardrone::filter_stateConstPtr statePtr);
        void comCb(const std_msgs::StringConstPtr str);
        void velCb(const geometry_msgs::TwistConstPtr vel);
        void navdataCb(const ardrone_autonomy::NavdataConstPtr navdataPtr);
        void joyCb(const sensor_msgs::JoyConstPtr joy_msg);
        void landCb(std_msgs::EmptyConstPtr);
        void toggleStateCb(std_msgs::EmptyConstPtr);
        void takeoffCb(std_msgs::EmptyConstPtr);
        ControlCommand lastJoyControlSent;
        bool lastL1Pressed;
        bool lastR1Pressed;


        // send command functions. can be called from any thread & are thread-safe.
        // writes a string message to "/tum_ardrone/com".
        // is thread-safe (can be called by any thread, but may block till other calling thread finishes)
        void publishCommand(std::string c);
        void sendControlToDrone(ControlCommand cmd);
        void sendLand();
        void sendTakeoff();
        void sendToggleState();
        void sendToggleCam();
        void sendFlattrim();
};

#endif /* __ROSTHREAD_H */