Program Listing for File imu_identification_ros_publisher.cpp

↰ Return to documentation for file (src/imu_identification_ros_publisher.cpp)

/*******************************************************************************
 *   @file   imu_identification_ros_publisher.cpp
 *   @brief  Implementation for imu identification publisher.
 *   @author Vasile Holonec (Vasile.Holonec@analog.com)
*******************************************************************************/
// Copyright 2023 Analog Devices, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "adi_imu/imu_identification_ros_publisher.h"

#include <thread>

namespace adi_imu
{

ImuIdentificationRosPublisher::ImuIdentificationRosPublisher(std::shared_ptr<rclcpp::Node> & node)
{
  m_node = node;
  m_publisher =
    node->create_publisher<adi_imu::msg::ImuIdentificationData>("imuidentificationdata", 10);
}

ImuIdentificationRosPublisher::~ImuIdentificationRosPublisher() { delete m_data_provider; }

void ImuIdentificationRosPublisher::setMessageProvider(
  ImuIdentificationDataProviderInterface * dataProvider)
{
  m_data_provider = dataProvider;
}

void ImuIdentificationRosPublisher::run()
{
  std::thread::id this_id = std::this_thread::get_id();
  std::cout << "thread " << this_id << " started...\n";
  RCLCPP_INFO(
    rclcpp::get_logger("imu_identification_ros_publisher"),
    "startThread: ImuIdentificationRosPublisher");

  // read data only once
  m_data_provider->getData(m_message);

  while (rclcpp::ok()) {
    rclcpp::Time now = m_node->get_clock()->now();
    m_message.header.stamp = now;
    m_publisher->publish(m_message);
  }

  this_id = std::this_thread::get_id();
  std::cout << "thread " << this_id << " ended...\n";
  RCLCPP_INFO(
    rclcpp::get_logger("imu_identification_ros_publisher"),
    "endThread: ImuIdentificationRosPublisher");
}

}  // namespace adi_imu