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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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45
simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.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 "GazeboPWM.h"
#include <string>
#include "MockData/HAL_Value.h"
#include "MockData/NotifyListener.h"
#include "MockData/PWMData.h"
#include "simulation/gz_msgs/msgs.h"
static void init_callback(const char* name, void* param,
const struct HAL_Value* value) {
GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
pwm->SetInitialized(value->data.v_boolean);
}
static void speed_callback(const char* name, void* param,
const struct HAL_Value* value) {
GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
if (pwm->IsInitialized()) pwm->Publish(value->data.v_double);
}
GazeboPWM::GazeboPWM(int port, HALSimGazebo* halsim) {
m_port = port;
m_halsim = halsim;
HALSIM_RegisterPWMInitializedCallback(port, init_callback, this, true);
HALSIM_RegisterPWMSpeedCallback(port, speed_callback, this, true);
}
void GazeboPWM::Publish(double value) {
if (!m_pub) {
m_pub = m_halsim->node.Advertise<gazebo::msgs::Float64>(
"~/simulator/pwm/" + std::to_string(m_port));
m_pub->WaitForConnection(gazebo::common::Time(1, 0));
}
gazebo::msgs::Float64 msg;
msg.set_data(value);
if (m_pub) m_pub->Publish(msg);
}