base_mixer.hpp

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/*
 * Copyright (c) 2023 Dmitry Ponomarev <ponomarevda96@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
 */
 
#ifndef SRC_MIXERS_BASE_MIXER_HPP
#define SRC_MIXERS_BASE_MIXER_HPP
 
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <std_msgs/Bool.h>
 
enum MulticopterMapping {
    MC_MOTOR_0_FRONT_RIGHT      = 0,    
    MC_MOTOR_1_REAR_LEFT,               
    MC_MOTOR_2_FRONT_LEFT,              
    MC_MOTOR_3_REAR_RIGHT,              
};
 
enum VtolDynamicsMapping {
    VTOL_MOTOR_0_FRONT_RIGHT    = 0,    
    VTOL_MOTOR_1_REAR_LEFT,             
    VTOL_MOTOR_2_FRONT_LEFT,            
    VTOL_MOTOR_3_REAR_RIGHT,            
    VTOL_THROTLE,                       
    VTOL_AILERONS,                      
    VTOL_ELEVATORS,                     
    VTOL_RUDDERS,                       
};
 
enum VtolOctoplaneDynamicsMapping {
    VTOL_OP_AILERONS            = 9,    
    VTOL_OP_ELEVATORS           = 10,   
    VTOL_OP_RUDDERS             = 11,   
};
 
class BaseReverseMixer {
    public:
        explicit BaseReverseMixer(const ros::NodeHandle& nh): _node(nh) {}
        virtual ~BaseReverseMixer() = default;
        virtual int8_t init();
        virtual void motorsCallback(sensor_msgs::Joy msg) = 0;
 
        ros::Publisher actuatorsPub;
        sensor_msgs::Joy sp_to_dynamics;
        ros::NodeHandle _node;
        ros::Subscriber motorsSub;
 
        inline static constexpr char MAPPED_ACTUATOR_TOPIC[]   = "/uav/actuators";
        inline static constexpr char MOTORS_TOPIC[]            = "/uav/actuators_raw";
        inline static constexpr char SERVOS_TOPIC[]            = "/uav/servo";
};
 
float clamp_float(float value, float min, float max);
float rawcommand_to_servo(float value);
 
#endif  // SRC_MIXERS_BASE_MIXER_HPP