mirror of
https://github.com/wpilibsuite/allwpilib
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46 lines
1.6 KiB
C++
46 lines
1.6 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "GazeboPWM.h"
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#include <string>
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#include "MockData/HAL_Value.h"
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#include "MockData/NotifyListener.h"
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#include "MockData/PWMData.h"
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#include "simulation/gz_msgs/msgs.h"
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static void init_callback(const char* name, void* param,
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const struct HAL_Value* value) {
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GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
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pwm->SetInitialized(value->data.v_boolean);
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}
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static void speed_callback(const char* name, void* param,
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const struct HAL_Value* value) {
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GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
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if (pwm->IsInitialized()) pwm->Publish(value->data.v_double);
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}
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GazeboPWM::GazeboPWM(int port, HALSimGazebo* halsim) {
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m_port = port;
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m_halsim = halsim;
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HALSIM_RegisterPWMInitializedCallback(port, init_callback, this, true);
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HALSIM_RegisterPWMSpeedCallback(port, speed_callback, this, true);
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}
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void GazeboPWM::Publish(double value) {
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if (!m_pub) {
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m_pub = m_halsim->node.Advertise<gazebo::msgs::Float64>(
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"~/simulator/pwm/" + std::to_string(m_port));
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m_pub->WaitForConnection(gazebo::common::Time(1, 0));
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}
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gazebo::msgs::Float64 msg;
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msg.set_data(value);
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if (m_pub) m_pub->Publish(msg);
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}
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