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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name PX4 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 CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file manual_input.h
* Reads from the ros joystick topic and publishes to the px4 manual control setpoint topic.
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "ros/ros.h"
#include <px4/manual_control_setpoint.h>
#include <sensor_msgs/Joy.h>
class ManualInput
{
public:
ManualInput();
~ManualInput() {}
protected:
/**
* Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
*/
void JoyCallback(const sensor_msgs::JoyConstPtr &msg);
/**
* Helper function to map and scale joystick axis
*/
void MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset, double deadzone,
float &out);
/**
* Helper function to map joystick buttons
*/
void MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp);
ros::NodeHandle _n;
ros::Subscriber _joy_sub;
ros::Publisher _man_ctrl_sp_pub;
/* Parameters */
enum MAIN_STATE {
MAIN_STATE_MANUAL = 0,
MAIN_STATE_ALTCTL,
MAIN_STATE_POSCTL,
MAIN_STATE_AUTO_MISSION,
MAIN_STATE_AUTO_LOITER,
MAIN_STATE_AUTO_RTL,
// MAIN_STATE_ACRO,
MAIN_STATE_OFFBOARD,
MAIN_STATE_MAX
};
int _param_buttons_map[MAIN_STATE_MAX]; /**< joystick button mapping, order according to MAIN_STATE */
bool _buttons_state[MAIN_STATE_MAX]; /**< joystick button state of last iteration,
order according to MAIN_STATE */
int _param_axes_map[4];
double _param_axes_scale[4];
double _param_axes_offset[4];
double _param_axes_dz[4];
px4::manual_control_setpoint _msg_mc_sp;
};
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