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Get halsim_gazebo building again (#1201)

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This commit is contained in:
Jeremy White
2018-07-20 18:24:48 -05:00
committed by Peter Johnson
parent fe5d7dd6ba
commit 74efe5aafe
17 changed files with 9 additions and 1 deletions
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41
simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "GazeboDIO.h"
#include <string>
#include "MockData/DIOData.h"
#include "MockData/HAL_Value.h"
#include "MockData/NotifyListener.h"
static void init_callback(const char* name, void* param,
const struct HAL_Value* value) {
GazeboDIO* dio = static_cast<GazeboDIO*>(param);
dio->SetInitialized(value->data.v_boolean);
if (dio->IsInitialized()) {
dio->Listen();
}
}
GazeboDIO::GazeboDIO(int index, HALSimGazebo* halsim) {
m_index = index;
m_halsim = halsim;
m_sub = NULL;
HALSIM_RegisterDIOInitializedCallback(index, init_callback, this, true);
}
void GazeboDIO::Listen() {
if (!m_sub)
m_sub = m_halsim->node.Subscribe<gazebo::msgs::Bool>(
"~/simulator/dio/" + std::to_string(m_index), &GazeboDIO::Callback,
this);
}
void GazeboDIO::Callback(const gazebo::msgs::ConstBoolPtr& msg) {
HALSIM_SetDIOValue(m_index, msg->data());
}