mavros.h

Go to the documentation of this file.

/*
 * Copyright 2014,2015 Vladimir Ermakov.
 *
 * 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
 */

#pragma once

#include <array>
#include <ros/ros.h>
#include <pluginlib/class_loader.h>
#include <mavconn/interface.h>
#include <mavros/mavros_plugin.h>
#include <mavros/mavlink_diag.h>
#include <mavros/utils.h>

namespace mavros {
class MavRos
{
public:
        MavRos();
        ~MavRos() {};

        void spin();

private:
        ros::NodeHandle mavlink_nh;
        // fcu_link stored in mav_uas
        mavconn::MAVConnInterface::Ptr gcs_link;
        bool gcs_quiet_mode;
        ros::Time last_message_received_from_gcs;
        ros::Duration conn_timeout;

        ros::Publisher mavlink_pub;
        ros::Subscriber mavlink_sub;

        diagnostic_updater::Updater gcs_diag_updater;
        MavlinkDiag fcu_link_diag;
        MavlinkDiag gcs_link_diag;

        pluginlib::ClassLoader<plugin::PluginBase> plugin_loader;
        std::vector<plugin::PluginBase::Ptr> loaded_plugins;

        std::unordered_map<mavlink::msgid_t, plugin::PluginBase::Subscriptions> plugin_subscriptions;

        UAS mav_uas;

        void mavlink_pub_cb(const mavlink::mavlink_message_t *mmsg, const mavconn::Framing framing);
        void mavlink_sub_cb(const mavros_msgs::Mavlink::ConstPtr &rmsg);

        void plugin_route_cb(const mavlink::mavlink_message_t *mmsg, const mavconn::Framing framing);

        void add_plugin(std::string &pl_name, ros::V_string &blacklist, ros::V_string &whitelist);

        void startup_px4_usb_quirk();
        void log_connect_change(bool connected);
};
}       // namespace mavros