play_tune.cpp

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#include <mavros/mavros_plugin.h>
#include <mavros_msgs/PlayTuneV2.h>
#include <cstring>
 
namespace mavros
{
namespace extra_plugins
{
class PlayTunePlugin : public plugin::PluginBase
{
public:
        PlayTunePlugin() : PluginBase(), nh("~") {}
 
        void initialize(UAS& uas_) override
        {
                PluginBase::initialize(uas_);
                sub = nh.subscribe("play_tune", 1, &PlayTunePlugin::callback, this);
        }
 
        Subscriptions get_subscriptions() override {
                return { /* No subscriptions */ };
        }
 
private:
        ros::NodeHandle nh;
        ros::Subscriber sub;
 
        void callback(const mavros_msgs::PlayTuneV2::ConstPtr& tune)
        {
                auto msg = mavlink::common::msg::PLAY_TUNE_V2{};
                m_uas->msg_set_target(msg);
                msg.format = tune->format;
                mavlink::set_string_z(msg.tune, tune->tune);
                UAS_FCU(m_uas)->send_message_ignore_drop(msg);
        }
};
}       // namespace extra_plugins
}       // namespace mavros
 
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(mavros::extra_plugins::PlayTunePlugin, mavros::plugin::PluginBase)