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Fixed FRCSim artf2619, and misc reformatting.

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Change-Id: I7133f46f88f7e2cb2451c2a6714daa8f3f368b40
This commit is contained in:
Colby Skeggs
2014-07-22 13:10:23 -07:00
parent 461e359484
commit 2dd45c3ea6
5 changed files with 86 additions and 53 deletions
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33
wpilibc/wpilibC++Sim/include/simulation/MainNode.h
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@@ -10,43 +10,42 @@ using namespace gazebo;
class MainNode {
public:
static MainNode* GetInstance() {
if (instance == NULL) {
if (instance == NULL) {
instance = new MainNode();
}
return instance;
}
template<typename M>
static transport::PublisherPtr Advertise(const std::string &topic,
template<typename M>
static transport::PublisherPtr Advertise(const std::string &topic,
unsigned int _queueLimit = 10,
bool _latch = false) {
return GetInstance()->main->Advertise<M>(topic, _queueLimit, _latch);
return GetInstance()->main->Advertise<M>(topic, _queueLimit, _latch);
}
template<typename M, typename T>
static transport::SubscriberPtr Subscribe(const std::string &topic,
template<typename M, typename T>
static transport::SubscriberPtr Subscribe(const std::string &topic,
void(T::*fp)(const boost::shared_ptr<M const> &), T *obj,
bool _latching = false) {
return GetInstance()->main->Subscribe(topic, fp, obj, _latching);
return GetInstance()->main->Subscribe(topic, fp, obj, _latching);
}
template<typename M>
static transport::SubscriberPtr Subscribe(const std::string &topic,
template<typename M>
static transport::SubscriberPtr Subscribe(const std::string &topic,
void(*fp)(const boost::shared_ptr<M const> &),
bool _latching = false) {
return GetInstance()->main->Subscribe(topic, fp, _latching);
}
return GetInstance()->main->Subscribe(topic, fp, _latching);
}
transport::NodePtr main;
transport::NodePtr main;
private:
static MainNode* instance;
MainNode() {
gazebo::transport::init();
main = transport::NodePtr(new transport::Node());
main->Init("frc");
gazebo::transport::run();
gazebo::transport::init();
main = transport::NodePtr(new transport::Node());
main->Init("frc");
gazebo::transport::run();
}
};

27
wpilibc/wpilibC++Sim/include/simulation/SimEncoder.h
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@@ -5,6 +5,7 @@
#include "simulation/msgs/msgs.h"
#include <gazebo/transport/transport.hh>
#include <gazebo/common/Time.hh>
using namespace gazebo;
@@ -12,20 +13,20 @@ class SimEncoder {
public:
SimEncoder(std::string topic);
void Reset();
void Start();
void Stop();
double GetPosition();
double GetVelocity();
void Reset();
void Start();
void Stop();
double GetPosition();
double GetVelocity();
private:
void sendCommand(std::string cmd);
double position, velocity;
transport::SubscriberPtr posSub, velSub;
transport::PublisherPtr commandPub;
void positionCallback(const msgs::ConstFloat64Ptr &msg);
void velocityCallback(const msgs::ConstFloat64Ptr &msg);
void sendCommand(std::string cmd);
double position, velocity;
transport::SubscriberPtr posSub, velSub;
transport::PublisherPtr commandPub;
void positionCallback(const msgs::ConstFloat64Ptr &msg);
void velocityCallback(const msgs::ConstFloat64Ptr &msg);
};
#endif