From 8ae64a12eaf88d4a250ee7e17341a4bb77afe2ec Mon Sep 17 00:00:00 2001 From: Colby Skeggs Date: Mon, 30 Jun 2014 17:32:00 -0700 Subject: [PATCH] Removed modules from the simulation infrastructure and refactored FRCPlugin. Pneumatics still have CAN modules. The refactored code is now eight plugins for sensors and actuators. There is some code reuse that should be refactored out, but that level of abstraction will wait until we figure out how these plugins are integrating with gazebo proper. Change-Id: I357e695ef05af6dda83a39ba60380686bd57d11a Closes: artf2610, artf2623 --- simulation/debs/.gitignore | 13 + simulation/debs/Makefile | 29 +- .../frcsim-gazebo-models/debian/changelog | 6 + .../frcsim-gazebo-plugins/NOTES.txt | 1 - .../frcsim-gazebo-plugins/debian/changelog | 6 + .../frcsim/plugins/libfrc_gazebo_plugin.so | Bin 830340 -> 0 bytes simulation/frc_gazebo_plugin/CMakeLists.txt | 16 - simulation/frc_gazebo_plugin/NOTES.txt | 1 - .../frc_gazebo_plugin/msgs/float64.proto | 15 - .../frc_gazebo_plugin/src/FRCPlugin.cpp | 69 - simulation/frc_gazebo_plugin/src/FRCPlugin.h | 41 - .../frc_gazebo_plugin/src/RobotMapParser.cpp | 335 --- .../frc_gazebo_plugin/src/RobotMapParser.h | 46 - .../src/components/Encoder.cpp | 52 - .../src/components/Encoder.h | 28 - .../src/components/ExternalLimitSwitch.cpp | 21 - .../src/components/ExternalLimitSwitch.h | 25 - .../frc_gazebo_plugin/src/components/Gyro.cpp | 42 - .../frc_gazebo_plugin/src/components/Gyro.h | 30 - .../src/components/InternalLimitSwitch.cpp | 32 - .../src/components/InternalLimitSwitch.h | 28 - .../src/components/Motor.cpp | 32 - .../frc_gazebo_plugin/src/components/Motor.h | 25 - .../src/components/Piston.cpp | 32 - .../frc_gazebo_plugin/src/components/Piston.h | 36 - .../src/components/Potentiometer.cpp | 27 - .../src/components/Potentiometer.h | 26 - .../src/components/Rangefinder.cpp | 21 - .../src/components/Rangefinder.h | 26 - .../src/components/RobotComponent.h | 25 - simulation/frc_gazebo_plugins/.gitignore | 3 + simulation/frc_gazebo_plugins/Makefile | 48 + .../frc_gazebo_plugins/clock/CMakeLists.txt | 17 + .../clock}/Makefile | 2 +- .../frc_gazebo_plugins/clock/src/clock.cpp | 42 + .../frc_gazebo_plugins/clock/src/clock.h | 42 + .../dc_motor/CMakeLists.txt | 17 + .../dc_motor}/Makefile | 2 +- .../dc_motor/src/dc_motor.cpp | 53 + .../dc_motor/src/dc_motor.h | 61 + .../frc_gazebo_plugins/encoder/CMakeLists.txt | 17 + .../frc_gazebo_plugins/encoder/Makefile | 15 + .../encoder/src/encoder.cpp | 94 + .../frc_gazebo_plugins/encoder/src/encoder.h | 81 + .../frc_gazebo_plugins.doxy | 2303 +++++++++++++++++ .../frc_gazebo_plugins/gyro/CMakeLists.txt | 17 + simulation/frc_gazebo_plugins/gyro/Makefile | 15 + .../frc_gazebo_plugins/gyro/src/gyro.cpp | 100 + simulation/frc_gazebo_plugins/gyro/src/gyro.h | 81 + .../limit_switch/CMakeLists.txt | 17 + .../frc_gazebo_plugins/limit_switch/Makefile | 15 + .../src/external_limit_switch.cpp | 17 + .../limit_switch/src/external_limit_switch.h | 19 + .../src/internal_limit_switch.cpp | 31 + .../limit_switch/src/internal_limit_switch.h | 21 + .../limit_switch/src/limit_switch.cpp | 52 + .../limit_switch/src/limit_switch.h | 78 + .../limit_switch/src/switch.h | 9 + .../msgs}/CMakeLists.txt | 4 +- simulation/frc_gazebo_plugins/msgs/Makefile | 15 + .../msgs/proto}/bool.proto | 0 .../msgs/proto}/driver-station.proto | 0 .../msgs/proto}/float64.proto | 0 .../msgs/proto}/joystick.proto | 0 .../msgs}/src/msgs/bool.pb.cc | 0 .../msgs}/src/msgs/bool.pb.h | 0 .../msgs}/src/msgs/driver-station.pb.cc | 0 .../msgs}/src/msgs/driver-station.pb.h | 0 .../msgs}/src/msgs/float64.pb.cc | 0 .../msgs}/src/msgs/float64.pb.h | 0 .../msgs}/src/msgs/msgs.h | 0 .../pneumatic_piston/CMakeLists.txt | 17 + .../pneumatic_piston/Makefile | 15 + .../pneumatic_piston/src/pneumatic_piston.cpp | 55 + .../pneumatic_piston/src/pneumatic_piston.h | 75 + .../potentiometer/CMakeLists.txt | 17 + .../frc_gazebo_plugins/potentiometer/Makefile | 15 + .../potentiometer/src/potentiometer.cpp | 56 + .../potentiometer/src/potentiometer.h | 52 + .../rangefinder/CMakeLists.txt | 17 + .../frc_gazebo_plugins/rangefinder/Makefile | 15 + .../rangefinder/src/rangefinder.cpp | 47 + .../rangefinder/src/rangefinder.h | 46 + wpilibc/wpilibC++Sim/src/AnalogInput.cpp | 2 +- wpilibc/wpilibC++Sim/src/DigitalInput.cpp | 2 +- wpilibc/wpilibC++Sim/src/Encoder.cpp | 2 +- wpilibc/wpilibC++Sim/src/Gyro.cpp | 2 +- wpilibc/wpilibC++Sim/src/Timer.cpp | 2 +- .../edu/wpi/first/wpilibj/AnalogInput.java | 2 +- .../edu/wpi/first/wpilibj/DigitalInput.java | 2 +- .../java/edu/wpi/first/wpilibj/Encoder.java | 2 +- .../main/java/edu/wpi/first/wpilibj/Gyro.java | 2 +- .../java/edu/wpi/first/wpilibj/Jaguar.java | 2 +- .../java/edu/wpi/first/wpilibj/Talon.java | 2 +- .../java/edu/wpi/first/wpilibj/Victor.java | 2 +- 95 files changed, 3762 insertions(+), 1063 deletions(-) delete mode 100644 simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/NOTES.txt delete mode 100755 simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/install/usr/lib/frcsim/plugins/libfrc_gazebo_plugin.so delete mode 100644 simulation/frc_gazebo_plugin/CMakeLists.txt delete mode 100644 simulation/frc_gazebo_plugin/NOTES.txt delete mode 100644 simulation/frc_gazebo_plugin/msgs/float64.proto delete mode 100644 simulation/frc_gazebo_plugin/src/FRCPlugin.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/FRCPlugin.h delete mode 100644 simulation/frc_gazebo_plugin/src/RobotMapParser.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/RobotMapParser.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/Encoder.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/Encoder.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/Gyro.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/Gyro.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/Motor.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/Motor.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/Piston.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/Piston.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/Potentiometer.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/Potentiometer.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/Rangefinder.cpp delete mode 100644 simulation/frc_gazebo_plugin/src/components/Rangefinder.h delete mode 100644 simulation/frc_gazebo_plugin/src/components/RobotComponent.h create mode 100644 simulation/frc_gazebo_plugins/.gitignore create mode 100644 simulation/frc_gazebo_plugins/Makefile create mode 100644 simulation/frc_gazebo_plugins/clock/CMakeLists.txt rename simulation/{debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins => frc_gazebo_plugins/clock}/Makefile (77%) create mode 100644 simulation/frc_gazebo_plugins/clock/src/clock.cpp create mode 100644 simulation/frc_gazebo_plugins/clock/src/clock.h create mode 100644 simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/dc_motor}/Makefile (77%) create mode 100644 simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp create mode 100644 simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h create mode 100644 simulation/frc_gazebo_plugins/encoder/CMakeLists.txt create mode 100644 simulation/frc_gazebo_plugins/encoder/Makefile create mode 100644 simulation/frc_gazebo_plugins/encoder/src/encoder.cpp create mode 100644 simulation/frc_gazebo_plugins/encoder/src/encoder.h create mode 100644 simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy create mode 100644 simulation/frc_gazebo_plugins/gyro/CMakeLists.txt create mode 100644 simulation/frc_gazebo_plugins/gyro/Makefile create mode 100644 simulation/frc_gazebo_plugins/gyro/src/gyro.cpp create mode 100644 simulation/frc_gazebo_plugins/gyro/src/gyro.h create mode 100644 simulation/frc_gazebo_plugins/limit_switch/CMakeLists.txt create mode 100644 simulation/frc_gazebo_plugins/limit_switch/Makefile create mode 100644 simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp create mode 100644 simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.h create mode 100644 simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.cpp create mode 100644 simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.h create mode 100644 simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.cpp create mode 100644 simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h create mode 100644 simulation/frc_gazebo_plugins/limit_switch/src/switch.h rename simulation/{debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins => frc_gazebo_plugins/msgs}/CMakeLists.txt (79%) create mode 100644 simulation/frc_gazebo_plugins/msgs/Makefile rename simulation/{frc_gazebo_plugin/msgs => frc_gazebo_plugins/msgs/proto}/bool.proto (100%) rename simulation/{frc_gazebo_plugin/msgs => frc_gazebo_plugins/msgs/proto}/driver-station.proto (100%) rename simulation/{debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/msgs => frc_gazebo_plugins/msgs/proto}/float64.proto (100%) rename simulation/{frc_gazebo_plugin/msgs => frc_gazebo_plugins/msgs/proto}/joystick.proto (100%) rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/msgs}/src/msgs/bool.pb.cc (100%) rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/msgs}/src/msgs/bool.pb.h (100%) rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/msgs}/src/msgs/driver-station.pb.cc (100%) rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/msgs}/src/msgs/driver-station.pb.h (100%) rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/msgs}/src/msgs/float64.pb.cc (100%) rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/msgs}/src/msgs/float64.pb.h (100%) rename simulation/{frc_gazebo_plugin => frc_gazebo_plugins/msgs}/src/msgs/msgs.h (100%) create mode 100644 simulation/frc_gazebo_plugins/pneumatic_piston/CMakeLists.txt create mode 100644 simulation/frc_gazebo_plugins/pneumatic_piston/Makefile create mode 100644 simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.cpp create mode 100644 simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h create mode 100644 simulation/frc_gazebo_plugins/potentiometer/CMakeLists.txt create mode 100644 simulation/frc_gazebo_plugins/potentiometer/Makefile create mode 100644 simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.cpp create mode 100644 simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h create mode 100644 simulation/frc_gazebo_plugins/rangefinder/CMakeLists.txt create mode 100644 simulation/frc_gazebo_plugins/rangefinder/Makefile create mode 100644 simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp create mode 100644 simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h diff --git a/simulation/debs/.gitignore b/simulation/debs/.gitignore index bee38daaf1..5659446de5 100644 --- a/simulation/debs/.gitignore +++ b/simulation/debs/.gitignore @@ -16,6 +16,19 @@ trash/ */*/include/ */*/msgs/ +*/*/clock/ +*/*/dc_motor/ +*/*/docs/ +*/*/encoder/ +*/*/*.doxy +*/*/gyro/ +*/*/limit_switch/ +*/*/pneumatic_piston/ +*/*/potentiometer/ +*/*/rangefinder/ +*/*/*.gradle +frcsim-gazebo-plugins/frcsim-gazebo-plugins/Makefile + # General Build Artifacts *.dsc *.deb diff --git a/simulation/debs/Makefile b/simulation/debs/Makefile index a55fb55150..9e8ecff9c3 100644 --- a/simulation/debs/Makefile +++ b/simulation/debs/Makefile @@ -1,20 +1,19 @@ codename=trusty allwpilib=../.. -version=0.1 -package-version=1 -gazebo-plugins-version=$(version) -gazebo-plugins-package-version=$(gazebo-plugins-version)-$(package-version) -gazebo-models-version=$(version) -gazebo-models-package-version=$(gazebo-models-version)-$(package-version) -eclipse-plugins-version=$(version) -eclipse-plugins-package-version=$(eclipse-plugins-version)-$(package-version) -eclipse-toolchain-version=$(version) -eclipse-toolchain-package-version=$(eclipse-toolchain-version)-$(package-version) -libwpilibsim-version=$(version) -libwpilibsim-package-version=$(libwpilibsim-version)-$(package-version) -frcsim-version=$(version) -frcsim-package-version=$(frcsim-version)-$(package-version) +package-version = 1 +gazebo-plugins-version = 0.2 +gazebo-plugins-package-version = $(gazebo-plugins-version)-$(package-version) +gazebo-models-version = 0.2 +gazebo-models-package-version = $(gazebo-models-version)-$(package-version) +eclipse-plugins-version = 0.1 +eclipse-plugins-package-version = $(eclipse-plugins-version)-$(package-version) +eclipse-toolchain-version = 0.1 +eclipse-toolchain-package-version = $(eclipse-toolchain-version)-$(package-version) +libwpilibsim-version = 0.1 +libwpilibsim-package-version = $(libwpilibsim-version)-$(package-version) +frcsim-version = 0.1 +frcsim-package-version = $(frcsim-version)-$(package-version) all: debs update-repository @@ -89,7 +88,7 @@ clean: pre-orig-clean pull: clean pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp orig pull-gazebo-plugins: - cp -rf -t frcsim-gazebo-plugins/frcsim-gazebo-plugins/ $(allwpilib)/simulation/frc_gazebo_plugin/* + cp -rf -t frcsim-gazebo-plugins/frcsim-gazebo-plugins/ $(allwpilib)/simulation/frc_gazebo_plugins/* echo Increment version? pull-eclipse-plugins: diff --git a/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog b/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog index 02d18b585f..c9e0040054 100644 --- a/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog +++ b/simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog @@ -1,3 +1,9 @@ +frcsim-gazebo-models (0.2-1) trusty; urgency=medium + + * New models using the smaller plugins + + -- Alex Henning Mon, 07 Jul 2014 12:52:50 -0700 + frcsim-gazebo-models (0.1-1) trusty; urgency=low * Initial release. diff --git a/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/NOTES.txt b/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/NOTES.txt deleted file mode 100644 index 9ad27058ec..0000000000 --- a/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/NOTES.txt +++ /dev/null @@ -1 +0,0 @@ -protoc --cpp_out=src/ msgs/float64.proto diff --git a/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/changelog b/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/changelog index 110070a69c..58e45a5e4c 100644 --- a/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/changelog +++ b/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/changelog @@ -1,3 +1,9 @@ +frcsim-gazebo-plugins (0.2-1) trusty; urgency=medium + + * Split plugin into many parts. + + -- Alex Henning Wed, 02 Jul 2014 13:50:38 -0700 + frcsim-gazebo-plugins (0.1-1) trusty; urgency=low * Initial release diff --git 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zmJ)QQpV2tEyhoqw*4%cvKs_)>uAc>&RrDk|jZhSVZ8uM)90g}$HBxqm;!Alpg`C*m z^V;GmCQnzMZJ>$bq%vs%P@t7aDk|dRi;OS7N)usRx?l7h3a;Nt0|-Sv)LNXm_u_@i zX_01d9YG}a6kvTlJzt{-Gq0gg&wfIT;2*PRTb-V5fV&8~ke4tu&JvPbLUQOnWe(H-~ z_Sk_bMaGTvma@^K>0A9Y|KAoJ^c?$Lp1mlD&S)aT;}lJy58}zp#(X8?i*Te(NLsvX zAqch1hq{ETkgL>9A}a|yRBTOhhA0*{3if`vKxs?rolN9l1OtFFD!@x%D5Bf~VeEQJ zyYFTTA|U7JLU7~_3=858SNzgsx38{zl{YP9_Xkwm$9eNVhw=^@1CGXP((s7t+u>y@v=bByz#JYUC z3GaOO69geTQ^@VV&Ufq8iGP4ndm`iHC&q_ycSnn6pXj1NvCcmEluEadaHQV}rT|#i zrHCY0qV2qhctGJC@FmdQ9z!LWbwJAceMPN$I?x>M4G?$rhYkbHEwd90I&R4ghj zySqL|*zL2rw#`En>>dW?qy$Pj_BxdM_L+g{GXukz%Z_h52hT=KvEFR48WEw8IH(M8 zwTPZ56>SHz2Rx=Q?wFk#{ClzbC9NCxv{4IP<_JPc&Nu2$EY*m_OOjZ{t3jq%-k}Vi z+71z+a(@?=X_Nz~qa7onyDVeQ$ox!o?W5ghLwn-9>OU-PS{bWg#-l!nEmmirDN^P5 z1YQ8T2XqTFw}R@w#d^zGBF?1K?qnZo0tfc+6}L6< -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "RobotMapParser.h" -#include "components/Motor.h" -#include "components/Potentiometer.h" -#include "components/Encoder.h" - -using namespace gazebo; -GZ_REGISTER_MODEL_PLUGIN(FRCPlugin) - -FRCPlugin::FRCPlugin() {} - -FRCPlugin::~FRCPlugin() {} - - -void FRCPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) { - model = _model; - - // Create robot components from RobotMap - if (_sdf->HasElement("robotmap")) { - std::string robotmap = common::SystemPaths::Instance()->FindFileURI(_sdf->Get("robotmap")); - std::cout << "Loading RobotMap: " << robotmap << std::endl; - RobotMapParser map("simulator", robotmap, model); - map.parse(components); - } else { - std::cerr << "No RobotMap specified this robot cannnot be controlled." << std::endl; - } - - // Connect to Gazebo transport for messaging - gzNode = transport::NodePtr(new transport::Node()); - gzNode->Init("frc"); - for (int i = 0; i < components.size(); i++) { - components[i]->connect(gzNode); - } - enabled = false; - sub = gzNode->Subscribe("~/ds/state", &FRCPlugin::dsCallback, this); - time_pub = gzNode->Advertise("~/time"); - - // Connect to the world update event. - // This will trigger the Update function every Gazebo iteration - updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&FRCPlugin::Update, this, _1)); -} - -// Update all RobotComponents -void FRCPlugin::Update(const common::UpdateInfo &_info) { - seconds_msg.set_data(_info.simTime.Double()); - time_pub->Publish(seconds_msg); - - for (int i = 0; i < components.size(); i++) { - components[i]->update(enabled); - } -} - - -void FRCPlugin::dsCallback(const msgs::ConstDriverStationPtr &msg) { - enabled = msg->enabled(); -} diff --git a/simulation/frc_gazebo_plugin/src/FRCPlugin.h b/simulation/frc_gazebo_plugin/src/FRCPlugin.h deleted file mode 100644 index 4c0e107286..0000000000 --- a/simulation/frc_gazebo_plugin/src/FRCPlugin.h +++ /dev/null @@ -1,41 +0,0 @@ -#ifndef _driveBot_H_ -#define _driveBot_H_ - -#include -#include - -#include "components/RobotComponent.h" -#include "msgs/msgs.h" - -using namespace gazebo; - -class FRCPlugin: public ModelPlugin { -public: - FRCPlugin(); - ~FRCPlugin(); - //function to load all of the elements - void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); - //function to update all of the elements - void Update(const common::UpdateInfo & _info); - -private: - //the vector containing all of the robot components. - std::vector components; - - physics::ModelPtr model; - - physics::LinkPtr frame; - - /// \brief Pointer to the world update function. - event::ConnectionPtr updateConn; - - transport::NodePtr gzNode; - - transport::SubscriberPtr sub; - volatile bool enabled; - transport::PublisherPtr time_pub; - msgs::Float64 seconds_msg; - void dsCallback(const msgs::ConstDriverStationPtr &msg); -}; - -#endif diff --git a/simulation/frc_gazebo_plugin/src/RobotMapParser.cpp b/simulation/frc_gazebo_plugin/src/RobotMapParser.cpp deleted file mode 100644 index 28d769f529..0000000000 --- a/simulation/frc_gazebo_plugin/src/RobotMapParser.cpp +++ /dev/null @@ -1,335 +0,0 @@ - -#include "RobotMapParser.h" - -#include "components/Motor.h" -#include "components/Piston.h" -#include "components/Potentiometer.h" -#include "components/Encoder.h" -#include "components/Gyro.h" -#include "components/InternalLimitSwitch.h" -#include "components/ExternalLimitSwitch.h" -#include "components/Rangefinder.h" -#include -#include -#include -#include - -RobotMapParser::RobotMapParser(string robot, string filename, physics::ModelPtr model) { - this->robot = robot; - this->filename = filename; - this->model = model; - this->world = model->GetWorld(); -} - -/* - * Parse the file and return a list of robot components for the robot - */ -void RobotMapParser::parse(vector &components) { - // Load an xml document with root tag - XMLDocument doc; - doc.LoadFile(filename.c_str()); - - // Iterate over all of the child tags and parse them accordingly. - for (XMLNode *current = doc.FirstChildElement("robotmap")->FirstChild(); - current != NULL; current = current->NextSibling()) { - if (current->ToElement() == NULL) { - // We don't care about comments and other non-element types - } else if (strcmp(current->Value(), "motor") == 0) { - components.push_back(parseMotor(current->ToElement())); - } else if (strcmp(current->Value(), "piston") == 0) { - components.push_back(parsePiston(current->ToElement())); - } else if (strcmp(current->Value(), "potentiometer") == 0) { - components.push_back(parsePotentiometer(current->ToElement())); - } else if (strcmp(current->Value(), "encoder") == 0) { - components.push_back(parseEncoder(current->ToElement())); - } else if (strcmp(current->Value(), "gyro") == 0) { - components.push_back(parseGyro(current->ToElement())); - } else if (strcmp(current->Value(), "internal-limit-switch") == 0) { - components.push_back(parseInternalLimitSwitch(current->ToElement())); - } else if (strcmp(current->Value(), "external-limit-switch") == 0) { - components.push_back(parseExternalLimitSwitch(current->ToElement())); - } else if (strcmp(current->Value(), "rangefinder") == 0) { - components.push_back(parseRangefinder(current->ToElement())); - } else { - cerr << "Unknown element: " << current->Value() << endl; - } - } -} - -/** - * Parse a motor tag. Motor tags have a joint the act on, a location - * they're "plugged into" and parameters that control their - * behavior. The template of a motor tag is as follows: - * - * - * {{ joint name (string) }} - * {{ location (see below for formats }} - * - * {{ torque multiplication factor (number) }} - * - * - */ -RobotComponentPtr RobotMapParser::parseMotor(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - physics::JointPtr joint = getJoint(node); - double multiplier = boost::lexical_cast(getChildTagValue( - node->FirstChildElement("parameters"), "multiplier").c_str()); - return new Motor(location, joint, multiplier); -} - -/** - * Parse a piston tag. Piston tags have a joint the act on, a location - * they're "plugged into", the area of the cylinder and optionally a - * direction. The template of a piston| tag is as follows: - * - * - * {{ joint name (string) }} - * {{ location (see below for formats }} - * - * {{ area in proper units (number) }} - * - * {{ area in newtons (number) }} - * {{ area in newtons (number) }} - * {{ forward (default) or reversed }} - * - */ -RobotComponentPtr RobotMapParser::parsePiston(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - physics::JointPtr joint = getJoint(node); - double forward = boost::lexical_cast(getChildTagValue(node, "forward-force").c_str()); - double reverse = boost::lexical_cast(getChildTagValue(node, "reverse-force").c_str()); - if (getChildTagValue(node, "direction") == "reversed") { - forward = -forward; - reverse = -reverse; - } - return new Piston(location, joint, forward, reverse); -} - -/** - * Parse a potentiometer tag. Potentiometer tags have a joint they measure, a - * location they're "plugged into" and one of three types (linear, - * degrees or radians). The template of a potentiometer tag is as - * follows: - * - * - * {{ joint name (string) }} - * {{ location (see below for formats }} - * {{ one of linear, degrees, radians }} - * - */ -RobotComponentPtr RobotMapParser::parsePotentiometer(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - physics::JointPtr joint = getJoint(node); - - string radians_str = getChildTagValue(node, "type", "degrees"); - bool radians; - if (radians_str == "linear" || radians_str == "radians") { - radians = true; - } else { - radians = false; - } - - return new Potentiometer(location, joint, radians); -} - -/** - * Parse an encoder tag. Encoder tags have a joint they measure, a - * location they're "plugged into". The template of an encoder tag - * is as follows: - * - * - * {{ joint name (string) }} - * {{ location (see below for formats }} - * - */ -RobotComponentPtr RobotMapParser::parseEncoder(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - physics::JointPtr joint = getJoint(node); - return new Encoder(location, joint); -} - -/** - * Parse a gyro tag. Gyro tags have a joint they measure, a location - * they're "plugged into" and one of three axes (roll, pitch, - * yaw). The template of a gyro tag is as follows: - * - * - * {{ link name (string) }} - * {{ location (see below for formats }} - * {{ one of yaw, pitch, roll }} - * - */ -RobotComponentPtr RobotMapParser::parseGyro(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - physics::LinkPtr link = getLink(node); - ROTATION axis; - string axisString = getChildTagValue(node, "axis"); - if (axisString == "roll") axis = Roll; - if (axisString == "pitch") axis = Pitch; - if (axisString == "yaw") axis = Yaw; - return new Gyro(location, link, axis); -} - -/** - * Parse a InternalLimitSwitch tag. InternalLimitSwitch tags have a - * joint they measure and a location they're "plugged into". The - * template of an InteranlLimitSwitch tag is as follows: - * - * - * {{ joint name (string) }} - * {{ location (see below for formats }} - * {{ one of linear, degrees, radians }} - * {{ min (number) }} - * {{ max (number }} - * - */ -RobotComponentPtr RobotMapParser::parseInternalLimitSwitch(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - physics::JointPtr joint = getJoint(node); - - double min = boost::lexical_cast(getChildTagValue(node, "min", "0")); - double max = boost::lexical_cast(getChildTagValue(node, "max", "1")); - - string radians_str = getChildTagValue(node, "type", "degrees"); - bool radians; - if (radians_str == "linear" || radians_str == "radians") { - radians = true; - } else { - radians = false; - } - return new InternalLimitSwitch(location, joint, min, max, radians); -} - -/** - * Parse a ExternalLimitSwitch tag. ExternalLimitSwitch tags have a - * joint they measure and a location they're "plugged into". The - * template of an ExternalLimitSwitch tag is as follows: - * - * - * {{ sensor name (string) }} - * {{ location (see below for formats }} - * - */ -RobotComponentPtr RobotMapParser::parseExternalLimitSwitch(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - sensors::ContactSensorPtr sensor = - boost::dynamic_pointer_cast(getSensor(node)); - return new ExternalLimitSwitch(location, sensor); -} - -/** - * Parse a rangefinder tag. Rangefinder tags have a joint they measure - * and a location they're "plugged into". The template of a rangfinder - * tag is as follows: - * - * - * {{ sensor name (string) }} - * {{ location (see below for formats }} - * - */ -RobotComponentPtr RobotMapParser::parseRangefinder(XMLElement *node) { - string location = locationToPath(node->FirstChildElement("location")); - sensors::SonarSensorPtr sensor = - boost::dynamic_pointer_cast(getSensor(node)); - return new Rangefinder(location, sensor); -} - - -/** - * Convert the location tag to a topic name to subscribe/publish - * to. Currently, there are two supported location styles: double_port - * and single port. - */ -string RobotMapParser::locationToPath(XMLElement *location) { - if (location == NULL) - return ""; - else if (location->Attribute("style", "double_port")) - return doublePortLocationToPath(location); - else - return portLocationToPath(location); -} - -string RobotMapParser::portLocationToPath(XMLElement *location) { - string type = getChildTagValue(location, "type"); - string module = getChildTagValue(location, "module"); - string pin = getChildTagValue(location, "pin"); - return "~/" + robot + "/" + type + "/" + module + "/" + pin; -} - - -string RobotMapParser::doublePortLocationToPath(XMLElement *location) { - string type = getChildTagValue(location, "type"); - string module1 = getChildTagValue(location, "module1"); - string pin1 = getChildTagValue(location, "pin1"); - string module2 = getChildTagValue(location, "module2"); - string pin2 = getChildTagValue(location, "pin2"); - // Swap pins if needed, to maintain consistent ordering - if ((module2 < module1) || ((module2 == module1) && (pin2 < pin1))) { - string module = module2; - string pin = pin2; - module2 = module1; - pin2 = pin1; - module1 = module; - pin1 = pin; - } - return "~/" + robot + "/" + type + "/" + module1 + "/" + pin1 + "/" + module2 + "/" + pin2; -} - -/** - * Returns the value of the first child tag element of the given node - * with the matching tag name. - */ -string RobotMapParser::getChildTagValue(XMLElement *node, string tag, string default_value) { - if (node->FirstChildElement(tag.c_str()) != NULL) { - return node->FirstChildElement(tag.c_str())->FirstChild()->Value(); - } else { - return default_value; - } -} - -/** - * Returns the matching attribute of the given node. - */ -string RobotMapParser::getTagAttribute(XMLElement *node, string attr, string default_value) { - if (node->Attribute(attr.c_str())) { - return node->Attribute(attr.c_str()); - } else { - return default_value; - } -} - -/** - * Returns the matching attribute of the first child tag element of the given node - * with the matching tag name. - */ -string RobotMapParser::getChildTagAttribute(XMLElement *node, string tag, - string attr, string default_value) { - if (node->FirstChildElement(tag.c_str()) != NULL) { - string value = node->FirstChildElement(tag.c_str())->Attribute(attr.c_str()); - if (value != "") { - return value; - } - } - return default_value; -} - -physics::JointPtr RobotMapParser::getJoint(XMLElement *node) { - string joint_name = node->FirstChildElement("joint")->FirstChild()->Value(); - physics::JointPtr joint = model->GetJoint(joint_name); - if (joint == NULL) cerr << "Joint doesn't exist: " << joint_name << endl; - return joint; -} - -physics::LinkPtr RobotMapParser::getLink(XMLElement *node) { - string link_name = node->FirstChildElement("link")->FirstChild()->Value(); - physics::LinkPtr link = model->GetLink(link_name); - if (link == NULL) cerr << "Link doesn't exist: " << link_name << endl; - return link; -} - -sensors::SensorPtr RobotMapParser::getSensor(XMLElement *node) { - string sensor_name = node->FirstChildElement("sensor")->FirstChild()->Value(); - sensors::SensorPtr sensor = sensors::get_sensor(sensor_name); - if (sensor == NULL) cerr << "Sensor doesn't exist: " << sensor_name << endl; - return sensor; -} diff --git a/simulation/frc_gazebo_plugin/src/RobotMapParser.h b/simulation/frc_gazebo_plugin/src/RobotMapParser.h deleted file mode 100644 index af5517afa6..0000000000 --- a/simulation/frc_gazebo_plugin/src/RobotMapParser.h +++ /dev/null @@ -1,46 +0,0 @@ - -#include "components/RobotComponent.h" -#include -#include - -#include - -#ifndef _ROBOTMAPPARSER_H_ -#define _ROBOTMAPPARSER_H_ - -using namespace std; -using namespace tinyxml2; -using namespace gazebo; - -class RobotMapParser { -public: - RobotMapParser(string robot, string filename, physics::ModelPtr model); - void parse(vector &components); - -private: - string robot, filename; - physics::ModelPtr model; - physics::WorldPtr world; - - RobotComponentPtr parseMotor(XMLElement *node); - RobotComponentPtr parsePiston(XMLElement *node); - RobotComponentPtr parsePotentiometer(XMLElement *node); - RobotComponentPtr parseEncoder(XMLElement *node); - RobotComponentPtr parseGyro(XMLElement *node); - RobotComponentPtr parseInternalLimitSwitch(XMLElement *node); - RobotComponentPtr parseExternalLimitSwitch(XMLElement *node); - RobotComponentPtr parseRangefinder(XMLElement *node); - - string locationToPath(XMLElement *location); - string portLocationToPath(XMLElement *location); - string doublePortLocationToPath(XMLElement *location); - - string getChildTagValue(XMLElement *node, string tag, string default_value=""); - string getTagAttribute(XMLElement *node, string attr, string default_value=""); - string getChildTagAttribute(XMLElement *node, string tag, string attr, string default_value=""); - physics::JointPtr getJoint(XMLElement *node); - physics::LinkPtr getLink(XMLElement *node); - sensors::SensorPtr getSensor(XMLElement *node); -}; - -#endif /* _ROBOTMAPPARSER_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/Encoder.cpp b/simulation/frc_gazebo_plugin/src/components/Encoder.cpp deleted file mode 100644 index ac91331446..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Encoder.cpp +++ /dev/null @@ -1,52 +0,0 @@ - -#include "components/Encoder.h" -#define _USE_MATH_DEFINES -#include - -Encoder::Encoder(std::string topic, physics::JointPtr joint) { - std::cout << "Initializing encoder: " << topic << std::endl; - this->topic = topic; - this->joint = joint; -} - -Encoder::~Encoder() { - -} - -void Encoder::connect(transport::NodePtr node) { - command_sub = node->Subscribe(topic+"/control", &Encoder::callback, this); - pos_pub = node->Advertise(topic+"/position"); - vel_pub = node->Advertise(topic+"/velocity"); - zero = joint->GetAngle(0).Degree(); - stopped = true; - stop_value = 0; -} - -void Encoder::callback(const msgs::ConstStringPtr &msg) { - std::string command = msg->data(); - if (command == "reset") { - zero = joint->GetAngle(0).Degree(); - } else if (command == "start") { - stopped = false; - zero = (joint->GetAngle(0).Degree() - stop_value); - } else if (command == "stop") { - stopped = true; - stop_value = joint->GetAngle(0).Degree(); - } else { - std::cout << "WARNING: Encoder got unknown command '" << command << "'." << std::endl; - } -} - -void Encoder::update(bool enabled) { - if (stopped) { - pos_msg.set_data(stop_value); - pos_pub->Publish(pos_msg); - vel_msg.set_data(0); - vel_pub->Publish(vel_msg); - } else { - pos_msg.set_data(joint->GetAngle(0).Degree() - zero); - pos_pub->Publish(pos_msg); - vel_msg.set_data(joint->GetVelocity(0) * (180.0 / M_PI)); - vel_pub->Publish(vel_msg); - } -} diff --git a/simulation/frc_gazebo_plugin/src/components/Encoder.h b/simulation/frc_gazebo_plugin/src/components/Encoder.h deleted file mode 100644 index f18cd7bf03..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Encoder.h +++ /dev/null @@ -1,28 +0,0 @@ - -#include "components/RobotComponent.h" - -#include - -#ifndef _COMPONENTS_ENCODER_H_ -#define _COMPONENTS_ENCODER_H_ - -class Encoder : public RobotComponent { -public: - Encoder(std::string topic, physics::JointPtr joint); - virtual ~Encoder(); - - void connect(transport::NodePtr node); - void update(bool enabled); -private: - std::string topic; - bool stopped; - double zero, stop_value; - transport::SubscriberPtr command_sub; - transport::PublisherPtr pos_pub, vel_pub; - msgs::Float64 pos_msg, vel_msg; - physics::JointPtr joint; - - void callback(const msgs::ConstStringPtr &msg); -}; - -#endif /* _COMPONENTS_ENCODER_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.cpp b/simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.cpp deleted file mode 100644 index dd35bf07f3..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.cpp +++ /dev/null @@ -1,21 +0,0 @@ - -#include "components/ExternalLimitSwitch.h" - -ExternalLimitSwitch::ExternalLimitSwitch(std::string topic, sensors::ContactSensorPtr sensor) { - std::cout << "Initializing external limit switch: " << topic << std::endl; - this->topic = topic; - this->sensor = sensor; -} - -ExternalLimitSwitch::~ExternalLimitSwitch() { - -} - -void ExternalLimitSwitch::connect(transport::NodePtr node) { - pub = node->Advertise(topic); -} - -void ExternalLimitSwitch::update(bool enabled) { - msg.set_data(sensor->GetContacts().contact().size() > 0); - pub->Publish(msg); -} diff --git a/simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.h b/simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.h deleted file mode 100644 index 631fc62b01..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/ExternalLimitSwitch.h +++ /dev/null @@ -1,25 +0,0 @@ - -#include "components/RobotComponent.h" -#include "msgs/bool.pb.h" - -#include - -#ifndef _COMPONENTS_EXTERNAL_LIMIT_SWITCH_H_ -#define _COMPONENTS_EXTERNAL_LIMIT_SWITCH_H_ - -class ExternalLimitSwitch : public RobotComponent { -public: - ExternalLimitSwitch(std::string topic, sensors::ContactSensorPtr sensor); - virtual ~ExternalLimitSwitch(); - - void connect(transport::NodePtr node); - void update(bool enabled); - -private: - std::string topic; - transport::PublisherPtr pub; - msgs::Bool msg; - sensors::ContactSensorPtr sensor; -}; - -#endif /* _COMPONENTS_EXTERNAL_LIMIT_SWITCH_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/Gyro.cpp b/simulation/frc_gazebo_plugin/src/components/Gyro.cpp deleted file mode 100644 index 4dd3207478..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Gyro.cpp +++ /dev/null @@ -1,42 +0,0 @@ - -#include "components/Gyro.h" - -#include -#define _USE_MATH_DEFINES -#include - -Gyro::Gyro(std::string topic, physics::LinkPtr link, ROTATION axis) { - std::cout << "Initializing gyro: " << topic << " axis=" << axis << std::endl; - this->topic = topic; - this->link = link; - this->axis = axis; -} - -Gyro::~Gyro() { - -} - -void Gyro::connect(transport::NodePtr node) { - command_sub = node->Subscribe(topic+"/control", &Gyro::callback, this); - pos_pub = node->Advertise(topic+"/position"); - vel_pub = node->Advertise(topic+"/velocity"); -} - -void Gyro::callback(const msgs::ConstStringPtr &msg) { - std::string command = msg->data(); - if (command == "reset") { - zero = link->GetWorldCoGPose().rot.GetAsEuler()[axis]; - } else { - std::cout << "WARNING: Encoder got unknown command '" << command << "'." << std::endl; - } -} - -void Gyro::update(bool enabled) { - math::Vector3 rot; - pos_msg.set_data((link->GetWorldCoGPose().rot.GetAsEuler()[axis] - zero) * (180.0 / M_PI)); - if (pos_msg.data() < -180) pos_msg.set_data(pos_msg.data() + 360); - else if (pos_msg.data() > 180) pos_msg.set_data(pos_msg.data() - 360); - pos_pub->Publish(pos_msg); - vel_msg.set_data(link->GetRelativeAngularVel()[axis] * (180.0 / M_PI)); - vel_pub->Publish(vel_msg); -} diff --git a/simulation/frc_gazebo_plugin/src/components/Gyro.h b/simulation/frc_gazebo_plugin/src/components/Gyro.h deleted file mode 100644 index c6c32e7428..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Gyro.h +++ /dev/null @@ -1,30 +0,0 @@ - -#include "components/RobotComponent.h" - -#include - -#ifndef _COMPONENTS_GYRO_H_ -#define _COMPONENTS_GYRO_H_ - -typedef enum {Roll, Pitch, Yaw} ROTATION; - -class Gyro : public RobotComponent { -public: - Gyro(std::string topic, physics::LinkPtr link, ROTATION axis); - virtual ~Gyro(); - - void connect(transport::NodePtr node); - void update(bool enabled); -private: - ROTATION axis; - std::string topic; - double zero; - transport::SubscriberPtr command_sub; - transport::PublisherPtr pos_pub, vel_pub; - msgs::Float64 pos_msg, vel_msg; - physics::LinkPtr link; - - void callback(const msgs::ConstStringPtr &msg); -}; - -#endif /* _COMPONENTS_GYRO_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.cpp b/simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.cpp deleted file mode 100644 index 2f16526369..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.cpp +++ /dev/null @@ -1,32 +0,0 @@ - -#include "components/InternalLimitSwitch.h" - -InternalLimitSwitch::InternalLimitSwitch(std::string topic, physics::JointPtr joint, - double min, double max, bool radians) { - std::cout << "Initializing external limit switch: " << topic << std::endl; - this->topic = topic; - this->joint = joint; - this->min = min; - this->max = max; - this->radians = radians; -} - -InternalLimitSwitch::~InternalLimitSwitch() { - -} - -void InternalLimitSwitch::connect(transport::NodePtr node) { - pub = node->Advertise(topic); -} - -void InternalLimitSwitch::update(bool enabled) { - double value; - joint->GetAngle(0).Normalize(); - if (radians) { - value = joint->GetAngle(0).Radian(); - } else { - value = joint->GetAngle(0).Degree(); - } - msg.set_data(value >= min && value <= max); - pub->Publish(msg); -} diff --git a/simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.h b/simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.h deleted file mode 100644 index 8015478471..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/InternalLimitSwitch.h +++ /dev/null @@ -1,28 +0,0 @@ - -#include "components/RobotComponent.h" -#include "msgs/bool.pb.h" - -#include - -#ifndef _COMPONENTS_INTERNAL_LIMIT_SWITCH_H_ -#define _COMPONENTS_INTERNAL_LIMIT_SWITCH_H_ - -class InternalLimitSwitch : public RobotComponent { -public: - InternalLimitSwitch(std::string topic, physics::JointPtr joint, - double min, double max, bool radians); - virtual ~InternalLimitSwitch(); - - void connect(transport::NodePtr node); - void update(bool enabled); - -private: - std::string topic; - transport::PublisherPtr pub; - msgs::Bool msg; - physics::JointPtr joint; - double min, max; - bool radians; -}; - -#endif /* _COMPONENTS_EXTERNAL_LIMIT_SWITCH_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/Motor.cpp b/simulation/frc_gazebo_plugin/src/components/Motor.cpp deleted file mode 100644 index f35b384404..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Motor.cpp +++ /dev/null @@ -1,32 +0,0 @@ - -#include "components/Motor.h" - -Motor::Motor(std::string topic, physics::JointPtr joint, double multiplier) { - std::cout << "Initializing motor: " << topic << " -- " << multiplier << std::endl; - this->topic = topic; - this->multiplier = multiplier; - this->joint = joint; - signal = 0; -} - -Motor::~Motor() { - -} - -void Motor::connect(transport::NodePtr node) { - sub = node->Subscribe(topic, &Motor::callback, this); -} - -void Motor::callback(const msgs::ConstFloat64Ptr &msg) { - signal = msg->data(); - if (signal < -1) { signal = -1; } - else if (signal > 1) { signal = 1; } -} - -void Motor::update(bool enabled) { - if (enabled) { - joint->SetForce(0, signal*multiplier); - } else { - joint->SetForce(0, 0); - } -} diff --git a/simulation/frc_gazebo_plugin/src/components/Motor.h b/simulation/frc_gazebo_plugin/src/components/Motor.h deleted file mode 100644 index 2d5f37b1ed..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Motor.h +++ /dev/null @@ -1,25 +0,0 @@ - -#include "components/RobotComponent.h" - -#include - -#ifndef _COMPONENTS_MOTOR_H_ -#define _COMPONENTS_MOTOR_H_ - -class Motor : public RobotComponent { -public: - Motor(std::string topic, physics::JointPtr joint, double multiplier); - virtual ~Motor(); - - void connect(transport::NodePtr node); - void update(bool enabled); -private: - std::string topic; - double signal, multiplier; - transport::SubscriberPtr sub; - physics::JointPtr joint; - - void callback(const msgs::ConstFloat64Ptr &msg); -}; - -#endif /* _COMPONENTS_MOTOR_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/Piston.cpp b/simulation/frc_gazebo_plugin/src/components/Piston.cpp deleted file mode 100644 index ac0abe422f..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Piston.cpp +++ /dev/null @@ -1,32 +0,0 @@ - -#include "components/Piston.h" - -Piston::Piston(std::string topic, physics::JointPtr joint, - double forward_force, double reverse_force) { - std::cout << "Initializing piston: " << topic << " -- " << forward_force - << "/" << reverse_force << "N" << std::endl; - this->topic = topic; - this->forward_force = forward_force; - this->reverse_force = reverse_force; - this->joint = joint; - signal = -1; -} - -Piston::~Piston() { - -} - -void Piston::connect(transport::NodePtr node) { - sub = node->Subscribe(topic, &Piston::callback, this); -} - -void Piston::callback(const msgs::ConstFloat64Ptr &msg) { - signal = msg->data(); - if (signal < -0.001) { signal = -reverse_force; } - else if (signal > 0.001) { signal = forward_force; } - else { signal = 0; } -} - -void Piston::update(bool enabled) { - joint->SetForce(0, signal); -} diff --git a/simulation/frc_gazebo_plugin/src/components/Piston.h b/simulation/frc_gazebo_plugin/src/components/Piston.h deleted file mode 100644 index 5a1049b174..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Piston.h +++ /dev/null @@ -1,36 +0,0 @@ - -#include "components/RobotComponent.h" - -#include - -#ifndef _COMPONENTS_PISTON_H_ -#define _COMPONENTS_PISTON_H_ - -// PSI in Newtons/m^2 -#define PSI(x) (x*6895) - -/** - * Piston models a pneumatic piston. In the URDF/SDF, the joint should - * be modeled as a prismatic joint with the limits corresponding to - * extended and retracted positions. Pistons have three states: - * forward, reverse and off. Currently, the forward and reverse forces - * are specified in Newtons and are constant. Changes in pressure are - * not modeled. - */ -class Piston : public RobotComponent { -public: - Piston(std::string topic, physics::JointPtr joint, double forward_force, double reverse_force); - virtual ~Piston(); - - void connect(transport::NodePtr node); - void update(bool enabled); -private: - std::string topic; - double forward_force, reverse_force, signal; - transport::SubscriberPtr sub; - physics::JointPtr joint; - - void callback(const msgs::ConstFloat64Ptr &msg); -}; - -#endif /* _COMPONENTS_PISTON_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/Potentiometer.cpp b/simulation/frc_gazebo_plugin/src/components/Potentiometer.cpp deleted file mode 100644 index 3e92d400c8..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Potentiometer.cpp +++ /dev/null @@ -1,27 +0,0 @@ - -#include "components/Potentiometer.h" - -Potentiometer::Potentiometer(std::string topic, physics::JointPtr joint, bool radians) { - std::cout << "Initializing potentiometer: " << topic << std::endl; - this->topic = topic; - this->joint = joint; - this->radians = radians; -} - -Potentiometer::~Potentiometer() { - -} - -void Potentiometer::connect(transport::NodePtr node) { - pub = node->Advertise(topic); -} - -void Potentiometer::update(bool enabled) { - joint->GetAngle(0).Normalize(); - if (radians) { - msg.set_data(joint->GetAngle(0).Radian()); - } else { - msg.set_data(joint->GetAngle(0).Degree()); - } - pub->Publish(msg); -} diff --git a/simulation/frc_gazebo_plugin/src/components/Potentiometer.h b/simulation/frc_gazebo_plugin/src/components/Potentiometer.h deleted file mode 100644 index 4021fa1723..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Potentiometer.h +++ /dev/null @@ -1,26 +0,0 @@ - -#include "components/RobotComponent.h" -#include "msgs/float64.pb.h" - -#include - -#ifndef _COMPONENTS_POTENTIOMETER_H_ -#define _COMPONENTS_POTENTIOMETER_H_ - -class Potentiometer : public RobotComponent { -public: - Potentiometer(std::string topic, physics::JointPtr joint, bool radians); - virtual ~Potentiometer(); - - void connect(transport::NodePtr node); - void update(bool enabled); - -private: - std::string topic; - transport::PublisherPtr pub; - msgs::Float64 msg; - physics::JointPtr joint; - bool radians; -}; - -#endif /* _COMPONENTS_POTENTIOMETER_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/Rangefinder.cpp b/simulation/frc_gazebo_plugin/src/components/Rangefinder.cpp deleted file mode 100644 index 9c059d7549..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Rangefinder.cpp +++ /dev/null @@ -1,21 +0,0 @@ - -#include "components/Rangefinder.h" - -Rangefinder::Rangefinder(std::string topic, sensors::SonarSensorPtr sensor) { - std::cout << "Initializing rangefinder: " << topic << std::endl; - this->topic = topic; - this->sensor = sensor; -} - -Rangefinder::~Rangefinder() { - -} - -void Rangefinder::connect(transport::NodePtr node) { - pub = node->Advertise(topic); -} - -void Rangefinder::update(bool enabled) { - msg.set_data(sensor->GetRange()); - pub->Publish(msg); -} diff --git a/simulation/frc_gazebo_plugin/src/components/Rangefinder.h b/simulation/frc_gazebo_plugin/src/components/Rangefinder.h deleted file mode 100644 index 7bb98c7b44..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/Rangefinder.h +++ /dev/null @@ -1,26 +0,0 @@ - -#include "components/RobotComponent.h" -#include "msgs/float64.pb.h" - -#include - -#ifndef _COMPONENTS_RANGEFINDER_H_ -#define _COMPONENTS_RANGEFINDER_H_ - -class Rangefinder : public RobotComponent { -public: - Rangefinder(std::string topic, sensors::SonarSensorPtr sensor); - virtual ~Rangefinder(); - - void connect(transport::NodePtr node); - void update(bool enabled); - -private: - std::string topic; - transport::PublisherPtr pub; - msgs::Float64 msg; - physics::LinkPtr link; - sensors::SonarSensorPtr sensor; -}; - -#endif /* _COMPONENTS_RANGEFINDER_H_ */ diff --git a/simulation/frc_gazebo_plugin/src/components/RobotComponent.h b/simulation/frc_gazebo_plugin/src/components/RobotComponent.h deleted file mode 100644 index ee0a4adeff..0000000000 --- a/simulation/frc_gazebo_plugin/src/components/RobotComponent.h +++ /dev/null @@ -1,25 +0,0 @@ - -#include "msgs/msgs.h" - -#include -#include - -#ifndef _ROBOTCOMPONENT_H_ -#define _ROBOTCOMPONENT_H_ - -#define MSG_BUFFER_SIZE 1000 - -using namespace gazebo; - -class RobotComponent { -public: - RobotComponent() {} - virtual ~RobotComponent() {} - - virtual void connect(transport::NodePtr node) {}; - virtual void update(bool enabled) {}; -}; - -typedef RobotComponent *RobotComponentPtr; - -#endif /* _ROBOTCOMPONENT_H_ */ diff --git a/simulation/frc_gazebo_plugins/.gitignore b/simulation/frc_gazebo_plugins/.gitignore new file mode 100644 index 0000000000..2c46269432 --- /dev/null +++ b/simulation/frc_gazebo_plugins/.gitignore @@ -0,0 +1,3 @@ +plugins/ +build/ +docs/ \ No newline at end of file diff --git a/simulation/frc_gazebo_plugins/Makefile b/simulation/frc_gazebo_plugins/Makefile new file mode 100644 index 0000000000..d74071b112 --- /dev/null +++ b/simulation/frc_gazebo_plugins/Makefile @@ -0,0 +1,48 @@ +prefix = /usr +lib.dir = $(prefix)/lib +plugin.dir = $(lib.dir)/frcsim/plugins +build.dir = build + +.PHONY : all build copy-plugins clean docs clean-docs + +all: build copy-plugins + +build: + cd msgs && make + cd dc_motor && make + cd pneumatic_piston && make + cd potentiometer && make + cd rangefinder && make + cd encoder && make + cd gyro && make + cd limit_switch && make + cd clock && make + +copy-plugins: + mkdir -p plugins + cp dc_motor/build/libgz_dc_motor.so plugins + cp pneumatic_piston/build/libgz_pneumatic_piston.so plugins + cp potentiometer/build/libgz_potentiometer.so plugins + cp rangefinder/build/libgz_rangefinder.so plugins + cp encoder/build/libgz_encoder.so plugins + cp gyro/build/libgz_gyro.so plugins + cp limit_switch/build/libgz_limit_switch.so plugins + cp clock/build/libgz_clock.so plugins + +clean: clean-docs + cd msgs && make clean + cd dc_motor && make clean + cd pneumatic_piston && make clean + cd potentiometer && make clean + cd rangefinder && make clean + cd encoder && make clean + cd gyro && make clean + cd limit_switch && make clean + cd clock && make clean + -rm -r plugins + +docs: + doxygen frc_gazebo_plugins.doxy + +clean-docs: + -rm -r docs diff --git a/simulation/frc_gazebo_plugins/clock/CMakeLists.txt b/simulation/frc_gazebo_plugins/clock/CMakeLists.txt new file mode 100644 index 0000000000..457dfe0b89 --- /dev/null +++ b/simulation/frc_gazebo_plugins/clock/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gz_clock) + +include (FindPkgConfig) +if (PKG_CONFIG_FOUND) + pkg_check_modules(GAZEBO gazebo) +endif() + +find_package(gazebo REQUIRED) + +file(GLOB_RECURSE SRC_FILES src/*.cpp) +file(GLOB_RECURSE MSG_FILES ../msgs/src/*.cc) +include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src) +add_library(${PROJECT_NAME} SHARED ${SRC_FILES} ${MSG_FILES}) + +link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build) +target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES}) \ No newline at end of file diff --git a/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/Makefile b/simulation/frc_gazebo_plugins/clock/Makefile similarity index 77% rename from simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/Makefile rename to simulation/frc_gazebo_plugins/clock/Makefile index 248ffc475e..22f17de166 100644 --- a/simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/Makefile +++ b/simulation/frc_gazebo_plugins/clock/Makefile @@ -12,4 +12,4 @@ clean: install: all mkdir -p $(DESTDIR)$(plugin.dir) - install $(build.dir)/libfrc_gazebo_plugin.so $(DESTDIR)$(plugin.dir) + install $(build.dir)/libgz_clock.so $(DESTDIR)$(plugin.dir) diff --git a/simulation/frc_gazebo_plugins/clock/src/clock.cpp b/simulation/frc_gazebo_plugins/clock/src/clock.cpp new file mode 100644 index 0000000000..ac10f95e3b --- /dev/null +++ b/simulation/frc_gazebo_plugins/clock/src/clock.cpp @@ -0,0 +1,42 @@ +#include "clock.h" + +#include +#include + +#include "msgs/msgs.h" + +GZ_REGISTER_MODEL_PLUGIN(Clock) + +Clock::Clock() {} + +Clock::~Clock() {} + +void Clock::Load(physics::ModelPtr model, sdf::ElementPtr sdf) { + this->model = model; + + // Parse SDF properties + if (sdf->HasElement("topic")) { + topic = sdf->Get("topic"); + } else { + topic = "~/"+sdf->GetAttribute("name")->GetAsString(); + } + + gzmsg << "Initializing clock: " << topic << std::endl; + + // Connect to Gazebo transport for messaging + std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName(); + boost::replace_all(scoped_name, "::", "/"); + node = transport::NodePtr(new transport::Node()); + node->Init(scoped_name); + pub = node->Advertise(topic); + + // Connect to the world update event. + // This will trigger the Update function every Gazebo iteration + updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Clock::Update, this, _1)); +} + +void Clock::Update(const common::UpdateInfo &info) { + msgs::Float64 msg; + msg.set_data(info.simTime.Double()); + pub->Publish(msg); +} diff --git a/simulation/frc_gazebo_plugins/clock/src/clock.h b/simulation/frc_gazebo_plugins/clock/src/clock.h new file mode 100644 index 0000000000..be04260479 --- /dev/null +++ b/simulation/frc_gazebo_plugins/clock/src/clock.h @@ -0,0 +1,42 @@ +#pragma once + +#include + +using namespace gazebo; + +/** + * \brief Plugin for publishing the simulation time. + * + * This plugin publishes the simualtaion time in seconds every physics + * update. + * + * To add a clock to your robot, add the following XML to your robot + * model: + * + * + * ~/my/topic + * + * + * - `topic`: Optional. Message will be published as a gazebo.msgs.Float64. + * + * \todo Make WorldPlugin? + */ +class Clock: public ModelPlugin { +public: + Clock(); + ~Clock(); + + /// \brief Load the clock and configures it according to the sdf. + void Load(physics::ModelPtr model, sdf::ElementPtr sdf); + + /// \brief Sends out time each timestep. + void Update(const common::UpdateInfo &info); + +private: + std::string topic; ///< \brief Publish the time on this topic. + physics::ModelPtr model; ///< \brief The model that this is attached to. + event::ConnectionPtr updateConn; ///< \brief Pointer to the world update function. + transport::NodePtr node; ///< \brief The node we're advertising on. + transport::PublisherPtr pub; ///< \brief Publisher handle. +}; + diff --git a/simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt b/simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt new file mode 100644 index 0000000000..4d7db20478 --- /dev/null +++ b/simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gz_dc_motor) + +include (FindPkgConfig) +if (PKG_CONFIG_FOUND) + pkg_check_modules(GAZEBO gazebo) +endif() + +find_package(gazebo REQUIRED) + +file(GLOB_RECURSE SRC_FILES src/*.cpp) +file(GLOB_RECURSE MSG_FILES ../msgs/src/*.cc) +include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src) +add_library(${PROJECT_NAME} SHARED ${SRC_FILES} ${MSG_FILES}) + +link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build) +target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES}) \ No newline at end of file diff --git a/simulation/frc_gazebo_plugin/Makefile b/simulation/frc_gazebo_plugins/dc_motor/Makefile similarity index 77% rename from simulation/frc_gazebo_plugin/Makefile rename to simulation/frc_gazebo_plugins/dc_motor/Makefile index 248ffc475e..6105c1ae06 100644 --- a/simulation/frc_gazebo_plugin/Makefile +++ b/simulation/frc_gazebo_plugins/dc_motor/Makefile @@ -12,4 +12,4 @@ clean: install: all mkdir -p $(DESTDIR)$(plugin.dir) - install $(build.dir)/libfrc_gazebo_plugin.so $(DESTDIR)$(plugin.dir) + install $(build.dir)/libgz_dc_motor.so $(DESTDIR)$(plugin.dir) diff --git a/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp new file mode 100644 index 0000000000..80dc3227a5 --- /dev/null +++ b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp @@ -0,0 +1,53 @@ +#include "dc_motor.h" + +#include +#include + +GZ_REGISTER_MODEL_PLUGIN(DCMotor) + +DCMotor::DCMotor() {} + +DCMotor::~DCMotor() {} + +void DCMotor::Load(physics::ModelPtr model, sdf::ElementPtr sdf) { + this->model = model; + signal = 0; + + // Parse SDF properties + joint = model->GetJoint(sdf->Get("joint")); + if (sdf->HasElement("topic")) { + topic = sdf->Get("topic"); + } else { + topic = "~/"+sdf->GetAttribute("name")->GetAsString(); + } + + if (sdf->HasElement("multiplier")) { + multiplier = sdf->Get("multiplier"); + } else { + multiplier = 1; + } + + gzmsg << "Initializing motor: " << topic << " joint=" << joint->GetName() + << " multiplier=" << multiplier << std::endl; + + // Connect to Gazebo transport for messaging + std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName(); + boost::replace_all(scoped_name, "::", "/"); + node = transport::NodePtr(new transport::Node()); + node->Init(scoped_name); + sub = node->Subscribe(topic, &DCMotor::Callback, this); + + // Connect to the world update event. + // This will trigger the Update function every Gazebo iteration + updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&DCMotor::Update, this, _1)); +} + +void DCMotor::Update(const common::UpdateInfo &info) { + joint->SetForce(0, signal*multiplier); +} + +void DCMotor::Callback(const msgs::ConstFloat64Ptr &msg) { + signal = msg->data(); + if (signal < -1) { signal = -1; } + else if (signal > 1) { signal = 1; } +} diff --git a/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h new file mode 100644 index 0000000000..1f6ad0f677 --- /dev/null +++ b/simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h @@ -0,0 +1,61 @@ +#pragma once + +#include + +#include "msgs/msgs.h" + +using namespace gazebo; + +/** + * \brief Plugin for controlling a joint with a DC motor. + * + * This plugin subscribes to a topic to get a signal in the range + * [-1,1]. Every physics update the joint's torque is set as + * multiplier*signal. + * + * To add a DC motor to your robot, add the following XML to your + * robot model: + * + * + * Joint Name + * ~/my/topic + * Number + * + * + * - `joint`: Name of the joint this Dc motor is attached to. + * - `topic`: Optional. Message type should be gazebo.msgs.Float64. + * - `multiplier`: Optional. Defaults to 1. + */ +class DCMotor: public ModelPlugin { +public: + DCMotor(); + ~DCMotor(); + + /// \brief Load the dc motor and configures it according to the sdf. + void Load(physics::ModelPtr model, sdf::ElementPtr sdf); + + /// \brief Update the torque on the joint from the dc motor each timestep. + void Update(const common::UpdateInfo &info); + +private: + /// \brief Topic to read control signal from. + std::string topic; + + /// \brief The pwm signal limited to the range [-1,1]. + double signal; + + /// \brief The magic torque multiplier. torque=multiplier*signal + double multiplier; + + /// \brief The joint that this dc motor drives. + physics::JointPtr joint; + + /// \brief Callback for receiving msgs and storing the signal. + void Callback(const msgs::ConstFloat64Ptr &msg); + + + physics::ModelPtr model; ///< \brief The model that this is attached to. + event::ConnectionPtr updateConn; ///< \brief Pointer to the world update function. + transport::NodePtr node; ///< \brief The node we're advertising on. + transport::SubscriberPtr sub; ///< \brief Subscriber handle. +}; diff --git a/simulation/frc_gazebo_plugins/encoder/CMakeLists.txt b/simulation/frc_gazebo_plugins/encoder/CMakeLists.txt new file mode 100644 index 0000000000..270d3a2102 --- /dev/null +++ b/simulation/frc_gazebo_plugins/encoder/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gz_encoder) + +include (FindPkgConfig) +if (PKG_CONFIG_FOUND) + pkg_check_modules(GAZEBO gazebo) +endif() + +find_package(gazebo REQUIRED) + +file(GLOB_RECURSE SRC_FILES src/*.cpp) +file(GLOB_RECURSE MSG_FILES ../msgs/src/*.cc) +include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src) +add_library(${PROJECT_NAME} SHARED ${SRC_FILES} ${MSG_FILES}) + +link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build) +target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES}) \ No newline at end of file diff --git a/simulation/frc_gazebo_plugins/encoder/Makefile b/simulation/frc_gazebo_plugins/encoder/Makefile new file mode 100644 index 0000000000..8f483413f1 --- /dev/null +++ b/simulation/frc_gazebo_plugins/encoder/Makefile @@ -0,0 +1,15 @@ +prefix = /usr +lib.dir = $(prefix)/lib +plugin.dir = $(lib.dir)/frcsim/plugins +build.dir = build + +all: + mkdir -p $(build.dir) + cd ${build.dir} && cmake .. && make + +clean: + rm -rf $(build.dir) + +install: all + mkdir -p $(DESTDIR)$(plugin.dir) + install $(build.dir)/libgz_encoder.so $(DESTDIR)$(plugin.dir) diff --git a/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp b/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp new file mode 100644 index 0000000000..51ca8746a6 --- /dev/null +++ b/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp @@ -0,0 +1,94 @@ +#include "encoder.h" + +#include +#include + +GZ_REGISTER_MODEL_PLUGIN(Encoder) + +Encoder::Encoder() {} + +Encoder::~Encoder() {} + +void Encoder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) { + this->model = model; + + // Parse SDF properties + joint = model->GetJoint(sdf->Get("joint")); + if (sdf->HasElement("topic")) { + topic = sdf->Get("topic"); + } else { + topic = "~/"+sdf->GetAttribute("name")->GetAsString(); + } + + if (sdf->HasElement("units")) { + radians = sdf->Get("units") != "degrees"; + } else { + radians = true; + } + zero = GetAngle(); + stopped = true; + stop_value = 0; + + gzmsg << "Initializing encoder: " << topic << " joint=" << joint->GetName() + << " radians=" << radians << std::endl; + + // Connect to Gazebo transport for messaging + std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName(); + boost::replace_all(scoped_name, "::", "/"); + node = transport::NodePtr(new transport::Node()); + node->Init(scoped_name); + command_sub = node->Subscribe(topic+"/control", &Encoder::Callback, this); + pos_pub = node->Advertise(topic+"/position"); + vel_pub = node->Advertise(topic+"/velocity"); + + // Connect to the world update event. + // This will trigger the Update function every Gazebo iteration + updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Encoder::Update, this, _1)); +} + +void Encoder::Update(const common::UpdateInfo &info) { + msgs::Float64 pos_msg, vel_msg; + if (stopped) { + pos_msg.set_data(stop_value); + pos_pub->Publish(pos_msg); + vel_msg.set_data(0); + vel_pub->Publish(vel_msg); + } else { + pos_msg.set_data(GetAngle() - zero); + pos_pub->Publish(pos_msg); + vel_msg.set_data(GetVelocity()); + vel_pub->Publish(vel_msg); + } +} + +void Encoder::Callback(const msgs::ConstStringPtr &msg) { + std::string command = msg->data(); + if (command == "reset") { + zero = GetAngle(); + } else if (command == "start") { + stopped = false; + zero = (GetAngle() - stop_value); + } else if (command == "stop") { + stopped = true; + stop_value = GetAngle(); + } else { + gzerr << "WARNING: Encoder got unknown command '" << command << "'." << std::endl; + } +} + +double Encoder::GetAngle() { + if (radians) { + return joint->GetAngle(0).Radian(); + } else { + return joint->GetAngle(0).Degree(); + } +} + +double Encoder::GetVelocity() { + if (radians) { + return joint->GetVelocity(0); + } else { + return joint->GetVelocity(0) * (180.0 / M_PI); + } +} + diff --git a/simulation/frc_gazebo_plugins/encoder/src/encoder.h b/simulation/frc_gazebo_plugins/encoder/src/encoder.h new file mode 100644 index 0000000000..fac3e2e0d3 --- /dev/null +++ b/simulation/frc_gazebo_plugins/encoder/src/encoder.h @@ -0,0 +1,81 @@ +#pragma once + +#include + +#include "msgs/msgs.h" + +using namespace gazebo; + +/** + * \brief Plugin for reading the speed and relative angle of a joint. + * + * This plugin publishes the angle since last reset and the speed of a + * given joint to subtopics of the given topic every physics + * update. There is also a control subtopic that takes three commands: + * "start", "stop" and "reset": + * + * - "start": Start counting ticks from the current count. + * - "stop": Stop counting ticks, pauses updates. + * - "reset": Set the current angle to zero. + * + * To add a encoder to your robot, add the following XML to your + * robot model: + * + * + * Joint Name + * ~/my/topic + * {degrees, radians} + * + * + * - `joint`: Name of the joint this encoder is attached to. + * - `topic`: Optional. Used as the root for subtopics. `topic`/position (gazebo.msgs.Float64), + * `topic`/velocity (gazebo.msgs.Float64), `topic`/control (gazebo.msgs.String) + * - `units`: Optional. Defaults to radians. + */ +class Encoder: public ModelPlugin { +public: + Encoder(); + ~Encoder(); + + /// \brief Load the encoder and configures it according to the sdf. + void Load(physics::ModelPtr model, sdf::ElementPtr sdf); + + /// \brief Sends out the encoder reading each timestep. + void Update(const common::UpdateInfo &info); + +private: + /// \brief Root topic for subtopics on this topic. + std::string topic; + + /// \brief Whether or not this encoder measures radians or degrees. + bool radians; + + /// \brief Whether or not the encoder has been stopped. + bool stopped; + + /// \brief The zero value of the encoder. + double zero; + + /// \brief The value the encoder stopped counting at + double stop_value; + + /// \brief The joint that this encoder measures + physics::JointPtr joint; + + /// \brief Callback for handling control data + void Callback(const msgs::ConstStringPtr &msg); + + /// \brief Gets the current angle, taking into account whether to + /// return radians or degrees. + double GetAngle(); + + /// \brief Gets the current velocity, taking into account whether to + /// return radians/second or degrees/second. + double GetVelocity(); + + physics::ModelPtr model; ///< \brief The model that this is attached to. + event::ConnectionPtr updateConn; ///< \brief Pointer to the world update function. + transport::NodePtr node; ///< \brief The node we're advertising on. + transport::SubscriberPtr command_sub; ///< \brief Subscriber handle. + transport::PublisherPtr pos_pub, vel_pub; ///< \brief Publisher handles. +}; diff --git a/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy b/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy new file mode 100644 index 0000000000..eebb3ec6a3 --- /dev/null +++ b/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy @@ -0,0 +1,2303 @@ +# Doxyfile 1.8.6 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. 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This list is created by putting \todo commands in the +# documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the +# test list. This list is created by putting \test commands in the +# documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES the list +# will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. Do not use file names with spaces, bibtex cannot handle them. See +# also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO doxygen will only warn about wrong or incomplete parameter +# documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. +# Note: If this tag is empty the current directory is searched. + +INPUT = + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank the +# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii, +# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, +# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, +# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, +# *.qsf, *.as and *.js. + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER ) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES, then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user- +# defined cascading style sheet that is included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefor more robust against future updates. +# Doxygen will copy the style sheet file to the output directory. For an example +# see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the stylesheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to NO can help when comparing the output of multiple runs. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler ( hhc.exe). If non-empty +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated ( +# YES) or that it should be included in the master .chm file ( NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated ( +# YES) or a normal table of contents ( NO) in the .chm file. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using prerendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /