auterion.hpp

/****************************************************************************
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 * Copyright 2023 Auterion AG. All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
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 * may be used to endorse or promote products derived from this software without
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include <rclcpp/rclcpp.hpp>
 
namespace auterion {
class SDK {
   public:
    SDK(int argc, char** argv, const std::string& node_name);
    ~SDK();
 
    void setSkipFlightControllerConnectionCheck(bool skip) {
        _skip_flight_controller_connection_check = skip;
    }
 
    void run();
 
    rclcpp::Node::SharedPtr defaultRosHandle() const { return _default_ros_node; }
 
    rclcpp::Time now() const { return _default_ros_node->now(); }
 
    void addNode(rclcpp::Node::SharedPtr node) { _executor->add_node(node); }
    void removeNode(rclcpp::Node::SharedPtr node) { _executor->remove_node(node); }
    const rclcpp::executors::SingleThreadedExecutor::UniquePtr& executor() const {
        return _executor;
    }
 
   private:
    rclcpp::Node::SharedPtr _default_ros_node;
    rclcpp::executors::SingleThreadedExecutor::UniquePtr _executor;
    bool _skip_flight_controller_connection_check{false};
};
 
}  // namespace auterion