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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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54
simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.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 "GazeboPCM.h"
#include <string>
#include "MockData/HAL_Value.h"
#include "MockData/NotifyListener.h"
#include "MockData/PCMData.h"
#include "simulation/gz_msgs/msgs.h"
static void init_callback(const char* name, void* param,
const struct HAL_Value* value) {
GazeboPCM* pcm = static_cast<GazeboPCM*>(param);
pcm->SetInitialized(value->data.v_boolean);
}
static void output_callback(const char* name, void* param,
const struct HAL_Value* value) {
GazeboPCM* pcm = static_cast<GazeboPCM*>(param);
if (pcm->IsInitialized()) pcm->Publish(value->data.v_boolean);
}
GazeboPCM::GazeboPCM(int index, int channel, HALSimGazebo* halsim) {
m_index = index;
m_channel = channel;
m_halsim = halsim;
m_pub = NULL;
HALSIM_RegisterPCMSolenoidInitializedCallback(index, channel, init_callback,
this, true);
HALSIM_RegisterPCMSolenoidOutputCallback(index, channel, output_callback,
this, true);
}
void GazeboPCM::Publish(bool value) {
if (!m_pub) {
m_pub = m_halsim->node.Advertise<gazebo::msgs::Bool>(
"~/simulator/pneumatic/" + std::to_string(m_index + 1) + "/" +
std::to_string(m_channel));
m_pub->WaitForConnection(gazebo::common::Time(1, 0));
}
gazebo::msgs::Bool msg;
msg.set_data(value);
if (m_pub) m_pub->Publish(msg);
}
void GazeboPCM_SetPressureSwitch(int index, bool value) {
HALSIM_SetPCMPressureSwitch(index, value);
}