"""GPS module."""
from __future__ import annotations
# Copyright 2022 Universidad Politécnica de Madrid
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * 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.
#
# * Neither the name of the the copyright holder 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 HOLDER 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.
__authors__ = 'Pedro Arias Pérez, Miguel Fernández Cortizas, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
from typing import TYPE_CHECKING
from as2_msgs.srv import GetOrigin, SetOrigin
from as2_python_api.modules.module_base import ModuleBase
from as2_python_api.shared_data.gps_data import GpsData
from rclpy.qos import qos_profile_sensor_data
from sensor_msgs.msg import NavSatFix
if TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class GpsModule(ModuleBase):
"""GPS module."""
__alias__ = 'gps'
def __init__(self, drone: 'DroneInterface') -> None:
super().__init__(drone, self.__alias__)
self.__drone = drone
self.gps = GpsData()
self.__origin = None
self.__set_origin_cli_ = self.__drone.create_client(
SetOrigin, 'set_origin')
self.__get_origin_cli_ = self.__drone.create_client(
GetOrigin, 'get_origin')
if not self.__set_origin_cli_.wait_for_service(timeout_sec=3) or \
not self.__get_origin_cli_.wait_for_service(timeout_sec=3):
self.__drone.get_logger().warn('Origin services not ready')
self.gps_sub = self.__drone.create_subscription(
NavSatFix, 'sensor_measurements/gps', self.__gps_callback, qos_profile_sensor_data)
def __gps_callback(self, msg: NavSatFix) -> None:
"""Navdata (gps) callback."""
self.gps.fix = [msg.latitude, msg.longitude, msg.altitude]
@property
def pose(self) -> list[float]:
"""
Get GPS position (lat, lon, alt) in deg and m.
:rtype: list[float]
"""
return self.gps.fix
@property
def origin(self) -> list[float]:
"""
Get Origin GPS position (lat, lon, alt) in deg and m. None if not set.
:rtype: list[float]
"""
if not self.__origin:
if not self.__get_origin_cli_.wait_for_service(timeout_sec=1):
self.__drone.get_logger().error('Trying to get origin: service not available')
return None
resp = self.__get_origin_cli_.call(GetOrigin.Request())
if not resp.success:
return None
self.__origin = [resp.origin.latitude,
resp.origin.longitude,
resp.origin.altitude]
return self.__origin
[docs]
def set_origin(self, gps_pose: list[float]) -> bool:
"""
Set Origin position.
:type gps_pose_: list[float]
"""
if not self.__set_origin_cli_.wait_for_service(timeout_sec=1):
self.__drone.get_logger().error('Trying to set origin: service not available')
return False
req = SetOrigin.Request()
req.origin.latitude = float(gps_pose[0])
req.origin.longitude = float(gps_pose[1])
req.origin.altitude = float(gps_pose[2])
resp = self.__set_origin_cli_.call(req)
if not resp.success:
self.__drone.get_logger().warn('Trying to set origin: origin already set')
return False
return True
[docs]
def destroy(self) -> None:
"""Destroy module, clean exit."""
self.__drone.destroy_subscription(self.gps_sub)
self.__drone.destroy_client(self.__set_origin_cli_)
self.__drone.destroy_client(self.__get_origin_cli_)