Program Listing for File spatial_ros_i.hpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP
#define PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP

#include <memory>
#include <mutex>
#include <string>

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>
#include <std_msgs/msg/bool.hpp>
#include <std_srvs/srv/empty.hpp>

#include "phidgets_api/spatial.hpp"

namespace phidgets {

const float G = 9.80665;

class SpatialRosI final : public rclcpp::Node
{
  public:
    explicit SpatialRosI(const rclcpp::NodeOptions& options);

  private:
    std::unique_ptr<Spatial> spatial_;
    std::string frame_id_;
    std::mutex spatial_mutex_;

    rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr cal_publisher_;
    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr cal_srv_;
    rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
    rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr
        magnetic_field_pub_;
    void timerCallback();
    rclcpp::TimerBase::SharedPtr timer_;
    double publish_rate_;

    rclcpp::Time ros_time_zero_;
    bool synchronize_timestamps_{true};
    uint64_t data_time_zero_ns_{0};
    uint64_t last_data_timestamp_ns_{0};
    uint64_t last_ros_stamp_ns_{0};
    int64_t time_resync_interval_ns_{0};
    int64_t data_interval_ns_{0};
    bool can_publish_{false};
    rclcpp::Time last_cb_time_;
    int64_t cb_delta_epsilon_ns_{0};

    void calibrate();

    void calibrateService(
        const std::shared_ptr<std_srvs::srv::Empty::Request> req,
        std::shared_ptr<std_srvs::srv::Empty::Response> res);

    // Accelerometer
    double linear_acceleration_variance_{0.0};
    double last_accel_x_{0.0};
    double last_accel_y_{0.0};
    double last_accel_z_{0.0};

    // Gyroscope
    double angular_velocity_variance_{0.0};
    double last_gyro_x_{0.0};
    double last_gyro_y_{0.0};
    double last_gyro_z_{0.0};

    // Magnetometer
    double magnetic_field_variance_{0.0};
    double last_mag_x_{0.0};
    double last_mag_y_{0.0};
    double last_mag_z_{0.0};

    void publishLatest();

    void spatialDataCallback(const double acceleration[3],
                             const double angular_rate[3],
                             const double magnetic_field[3], double timestamp);
    void attachCallback();
    void detachCallback();
};

}  // namespace phidgets

#endif  // PHIDGETS_SPATIAL_SPATIAL_ROS_I_HPP