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90 lines
2.9 KiB
C++
90 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "simulation/gz_msgs/msgs.h"
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#include "switch.h"
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#include "external_limit_switch.h"
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#include "internal_limit_switch.h"
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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using namespace gazebo;
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/**
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* \brief Plugin for reading limit switches.
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*
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* This plugin publishes whether or not the limit switch has been
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* triggered every physics update. There are two types of limit switches:
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*
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* - Internal: Measure joint limits. Triggerd if the joint is within
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* some range.
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* - External: Measure interactions with the outside world. Triggerd
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* if some link is in collision.
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*
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* To add a limit swithch to your robot, add the following XML to your
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* robot model.
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*
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* Internal:
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*
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* <plugin name="my_limit_switch" filename="liblimit_switch.so">
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* <topic>~/my/topic</topic>
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* <type>internal</type>
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* <joint>Joint Name</joint>
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* <units>{degrees, radians}</units>
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* <min>Number</min>
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* <max>Number</max>
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* </plugin>
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*
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* External:
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*
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* <plugin name="my_limit_switch" filename="liblimit_switch.so">
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* <topic>~/my/topic</topic>
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* <type>external</type>
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* <sensor>Sensor Name</sensor>
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* </plugin>
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*
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* Common:
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* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
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* - `type`: Required. The type of limit switch that this is
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*
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* Internal
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* - `joint`: Name of the joint this potentiometer is attached to.
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* - `units`: Optional. Defaults to radians.
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* - `min`: Minimum angle considered triggered.
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* - `max`: Maximum angle considered triggered.
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*
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* External
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* - `sensor`: Name of the contact sensor that this limit switch uses.
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*/
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class LimitSwitch : public ModelPlugin {
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public:
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/// \brief Load the limit switch and configures it according to the sdf.
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void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
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/// \brief Sends out the limit switch reading each timestep.
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void Update(const common::UpdateInfo& info);
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private:
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/// \brief Publish the limit switch value on this topic.
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std::string topic;
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/// \brief LimitSwitch object, currently internal or external.
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Switch* ls;
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physics::ModelPtr model; ///< \brief The model that this is attached to.
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event::ConnectionPtr
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updateConn; ///< \brief Pointer to the world update function.
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transport::NodePtr node; ///< \brief The node we're advertising on.
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transport::PublisherPtr pub; ///< \brief Publisher handle.
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};
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