align_handler.cpp

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//
// Copyright (c) 2020 NovAtel Inc.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
 
 
#include <novatel_oem7_driver/oem7_message_handler_if.hpp>
 
 
#include <ros/ros.h>
 
#include <novatel_oem7_driver/oem7_ros_messages.hpp>
#include <novatel_oem7_msgs/HEADING2.h>
 
#include <oem7_ros_publisher.hpp>
 
 
namespace novatel_oem7_driver
{
 
  /***
   * Handler of ALIGH-related messages
   */
  class ALIGNHandler: public Oem7MessageHandlerIf
  {
    Oem7RosPublisher HEADING2_pub_;
 
    void publishHEADING2(
        Oem7RawMessageIf::ConstPtr msg)
    {
      boost::shared_ptr<novatel_oem7_msgs::HEADING2> heading2;
      MakeROSMessage(msg, heading2);
      HEADING2_pub_.publish(heading2);
    }
 
  public:
    ALIGNHandler()
    {
    }
 
    ~ALIGNHandler()
    {
    }
 
    void initialize(ros::NodeHandle& nh)
    {
      HEADING2_pub_.setup<novatel_oem7_msgs::HEADING2>("HEADING2", nh);
    }
 
    const std::vector<int>& getMessageIds()
    {
      static const std::vector<int> MSG_IDS({HEADING2_OEM7_MSGID});
      return MSG_IDS;
    }
 
    void handleMsg(Oem7RawMessageIf::ConstPtr msg)
    {
      ROS_DEBUG_STREAM("ALIGN < [id= " <<  msg->getMessageId() << "]");
 
      publishHEADING2(msg);
    }
  };
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(novatel_oem7_driver::ALIGNHandler, novatel_oem7_driver::Oem7MessageHandlerIf)