setpoint_base.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <cstdint>
#include <functional>
#include <memory>
#include <px4_msgs/msg/vehicle_control_mode.hpp>
#include <rclcpp/rclcpp.hpp>
 
#include "context.hpp"
#include "exception.hpp"
 
namespace px4_ros2 {
 
class SetpointBase : public std::enable_shared_from_this<SetpointBase> {
 public:
  using ShouldActivateCB = std::function<void()>;
 
  struct Configuration {
    void fillControlMode(px4_msgs::msg::VehicleControlMode& control_mode)
    {
      control_mode.flag_control_rates_enabled = rates_enabled;
      control_mode.flag_control_attitude_enabled = attitude_enabled;
      control_mode.flag_control_acceleration_enabled = acceleration_enabled;
      control_mode.flag_control_velocity_enabled = velocity_enabled;
      control_mode.flag_control_position_enabled = position_enabled;
      control_mode.flag_control_altitude_enabled = altitude_enabled;
      control_mode.flag_control_allocation_enabled = control_allocation_enabled;
      control_mode.flag_control_climb_rate_enabled = climb_rate_enabled;
    }
 
    bool control_allocation_enabled{true};
    bool rates_enabled{true};
    bool attitude_enabled{true};
    bool altitude_enabled{true};
    bool acceleration_enabled{true};
    bool velocity_enabled{true};
    bool position_enabled{true};
    bool local_position_is_optional{false};
    bool climb_rate_enabled{false};
  };
 
  explicit SetpointBase(Context& context) { context.addSetpointType(this); }
 
  virtual ~SetpointBase() = default;
 
  std::shared_ptr<SetpointBase> getSharedPtr()
  {
    try {
      return shared_from_this();
    } catch (const std::bad_weak_ptr& exception) {
      throw Exception("Setpoint must be instantiated with std::make_shared<>");
    }
    return {};
  }
 
  virtual Configuration getConfiguration() = 0;
 
  virtual float desiredUpdateRateHz() { return 50.f; }
 
  void setShouldActivateCallback(const ShouldActivateCB& should_activate_cb)
  {
    _should_activate_cb = should_activate_cb;
  }
  void setActive(bool active) { _active = active; }
 
 protected:
  void onUpdate()
  {
    if (!_active && _should_activate_cb) {
      _should_activate_cb();
    }
  }
 
 private:
  ShouldActivateCB _should_activate_cb;
  bool _active{false};
};
 
} /* namespace px4_ros2 */