overrides.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/config_overrides.hpp>
#include <rclcpp/rclcpp.hpp>
 
#include "shared_subscription.hpp"
 
namespace px4_ros2 {
 
class ModeBase;
class ModeExecutorBase;
 
class ConfigOverrides {
 public:
  explicit ConfigOverrides(rclcpp::Node& node, const std::string& topic_namespace_prefix = "");
 
  void controlAutoDisarm(bool enabled);
 
 private:
  void update();
 
  friend class ModeBase;
  friend class ModeExecutorBase;
  void controlAutoSetHome(bool enabled);
  void deferFailsafes(bool enabled, int timeout_s = 0);
  void setup(uint8_t type, uint8_t id);
 
  rclcpp::Node& _node;
 
  px4_msgs::msg::ConfigOverrides _current_overrides{};
  rclcpp::Publisher<px4_msgs::msg::ConfigOverrides>::SharedPtr _config_overrides_pub;
  bool _is_setup{false};
  bool _require_update_after_setup{false};
 
  rclcpp::TimerBase::SharedPtr _confirm_timer;
  SharedSubscriptionCallbackInstance _config_overrides_confirm_sub;
};
 
}  // namespace px4_ros2