mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
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#include "encoder.h"
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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GZ_REGISTER_MODEL_PLUGIN(Encoder)
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Encoder::Encoder() {}
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Encoder::~Encoder() {}
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void Encoder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
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this->model = model;
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// Parse SDF properties
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joint = model->GetJoint(sdf->Get<std::string>("joint"));
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if (sdf->HasElement("topic")) {
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topic = sdf->Get<std::string>("topic");
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} else {
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topic = "~/"+sdf->GetAttribute("name")->GetAsString();
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}
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if (sdf->HasElement("units")) {
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radians = sdf->Get<std::string>("units") != "degrees";
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} else {
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radians = true;
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}
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zero = GetAngle();
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stopped = true;
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stop_value = 0;
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gzmsg << "Initializing encoder: " << topic << " joint=" << joint->GetName()
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<< " radians=" << radians << std::endl;
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// Connect to Gazebo transport for messaging
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std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName();
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boost::replace_all(scoped_name, "::", "/");
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node = transport::NodePtr(new transport::Node());
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node->Init(scoped_name);
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command_sub = node->Subscribe(topic+"/control", &Encoder::Callback, this);
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pos_pub = node->Advertise<msgs::Float64>(topic+"/position");
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vel_pub = node->Advertise<msgs::Float64>(topic+"/velocity");
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// Connect to the world update event.
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// This will trigger the Update function every Gazebo iteration
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updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Encoder::Update, this, _1));
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}
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void Encoder::Update(const common::UpdateInfo &info) {
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msgs::Float64 pos_msg, vel_msg;
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if (stopped) {
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pos_msg.set_data(stop_value);
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pos_pub->Publish(pos_msg);
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vel_msg.set_data(0);
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vel_pub->Publish(vel_msg);
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} else {
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pos_msg.set_data(GetAngle() - zero);
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pos_pub->Publish(pos_msg);
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vel_msg.set_data(GetVelocity());
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vel_pub->Publish(vel_msg);
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}
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}
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void Encoder::Callback(const msgs::ConstStringPtr &msg) {
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std::string command = msg->data();
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if (command == "reset") {
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zero = GetAngle();
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} else if (command == "start") {
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stopped = false;
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zero = (GetAngle() - stop_value);
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} else if (command == "stop") {
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stopped = true;
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stop_value = GetAngle();
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} else {
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gzerr << "WARNING: Encoder got unknown command '" << command << "'." << std::endl;
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}
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}
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double Encoder::GetAngle() {
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if (radians) {
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return joint->GetAngle(0).Radian();
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} else {
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return joint->GetAngle(0).Degree();
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}
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}
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double Encoder::GetVelocity() {
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if (radians) {
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return joint->GetVelocity(0);
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} else {
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return joint->GetVelocity(0) * (180.0 / M_PI);
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}
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}
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