hil_interface_node.h

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/*
 * Copyright 2016 Pavel Vechersky, ASL, ETH Zurich, Switzerland
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef ROTORS_HIL_INTERFACE_NODE_H_
#define ROTORS_HIL_INTERFACE_NODE_H_

#include <memory>

#include <rotors_hil_interface/hil_interface.h>

namespace rotors_hil {
// Default values
static constexpr bool kDefaultSensorLevelHil = true;
static constexpr double kDefaultHilFrequency = 100.0;
static constexpr double kDefaultBodyToSensorsRoll = M_PI;
static constexpr double kDefaultBodyToSensorsPitch = 0.0;
static constexpr double kDefaultBodyToSensorsYaw = 0.0;
static const std::string kDefaultMavlinkPubTopic = "mavlink/to";
static const std::string kDefaultHilControlsSubTopic = "mavros/hil_controls/hil_controls";

class HilInterfaceNode {
 public:
  HilInterfaceNode();
  virtual ~HilInterfaceNode();

  void MainTask();

  void HilControlsCallback(const mavros_msgs::HilControlsConstPtr& hil_controls_msg);

 private:
  ros::NodeHandle nh_;

  ros::Publisher actuators_pub_;

  ros::Publisher mavlink_pub_;

  ros::Subscriber hil_controls_sub_;

  ros::Rate rate_;

  std::unique_ptr<HilInterface> hil_interface_;
};
}

#endif // ROTORS_HIL_INTERFACE_NODE_H_