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
2026-06-22 01:11:42 +00:00 · 2014-06-30 17:32:00 -07:00
parent 3b4718fc92
commit 8ae64a12ea
95 changed files with 3762 additions and 1063 deletions
--- a/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp
+++ b/simulation/frc_gazebo_plugins/encoder/src/encoder.cpp
@@ -0,0 +1,94 @@
+#include "encoder.h"
+
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+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<std::string>("joint"));
+  if (sdf->HasElement("topic")) {
+    topic = sdf->Get<std::string>("topic");
+  } else {
+    topic = "~/"+sdf->GetAttribute("name")->GetAsString();
+  }
+  
+  if (sdf->HasElement("units")) {
+    radians = sdf->Get<std::string>("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<msgs::Float64>(topic+"/position");
+  vel_pub = node->Advertise<msgs::Float64>(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);
+  }
+}
+