mirror of
https://github.com/wpilibsuite/allwpilib
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91 lines
3.2 KiB
C++
91 lines
3.2 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 <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 the speed and relative angle of a joint.
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*
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* This plugin publishes the angle since last reset and the speed of a
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* given joint to subtopics of the given topic every physics
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* update. There is also a control subtopic that takes three commands:
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* "start", "stop" and "reset":
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*
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* - "start": Start counting ticks from the current count.
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* - "stop": Stop counting ticks, pauses updates.
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* - "reset": Set the current angle to zero.
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*
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* To add a encoder to your robot, add the following XML to your
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* robot model:
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*
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* <plugin name="my_encoder" filename="libencoder.so">
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* <joint>Joint Name</joint>
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* <topic>~/my/topic</topic>
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* <units>{degrees, radians}</units>
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* </plugin>
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*
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* - `joint`: Name of the joint this encoder is attached to.
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* - `topic`: Optional. Used as the root for subtopics. `topic`/position
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* (gazebo.msgs.Float64),
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* `topic`/velocity (gazebo.msgs.Float64), `topic`/control
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* (gazebo.msgs.String)
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* - `units`: Optional. Defaults to radians.
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*/
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class Encoder : public ModelPlugin {
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public:
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/// \brief Load the encoder 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 encoder reading each timestep.
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void Update(const common::UpdateInfo& info);
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private:
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/// \brief Root topic for subtopics on this topic.
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std::string topic;
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/// \brief Whether or not this encoder measures radians or degrees.
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bool radians;
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/// \brief Whether or not the encoder has been stopped.
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bool stopped;
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/// \brief The zero value of the encoder.
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double zero;
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/// \brief The value the encoder stopped counting at
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double stop_value;
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/// \brief The joint that this encoder measures
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physics::JointPtr joint;
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/// \brief Callback for handling control data
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void Callback(const msgs::ConstStringPtr& msg);
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/// \brief Gets the current angle, taking into account whether to
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/// return radians or degrees.
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double GetAngle();
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/// \brief Gets the current velocity, taking into account whether to
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/// return radians/second or degrees/second.
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double GetVelocity();
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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::SubscriberPtr command_sub; ///< \brief Subscriber handle.
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transport::PublisherPtr pos_pub, vel_pub; ///< \brief Publisher handles.
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};
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