mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-30 02:31:44 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "pneumatic_piston.h"
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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GZ_REGISTER_MODEL_PLUGIN(PneumaticPiston)
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PneumaticPiston::PneumaticPiston() {}
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PneumaticPiston::~PneumaticPiston() {}
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void PneumaticPiston::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
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this->model = model;
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signal = 0;
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// Parse SDF properties
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joint = model->GetJoint(sdf->Get<std::string>("joint"));
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if (sdf->HasElement("topic")) {
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topic = sdf->Get<std::string>("topic");
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} else {
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topic = "~/"+sdf->GetAttribute("name")->GetAsString();
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}
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forward_force = sdf->Get<double>("forward-force");
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reverse_force = sdf->Get<double>("reverse-force");
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if (sdf->HasElement("direction") && sdf->Get<std::string>("direction") == "reversed") {
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forward_force = -forward_force;
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reverse_force = -reverse_force;
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}
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gzmsg << "Initializing piston: " << topic << " joint=" << joint->GetName()
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<< " forward_force=" << forward_force
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<< " reverse_force=" << reverse_force<< std::endl;
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// Connect to Gazebo transport for messaging
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std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName();
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boost::replace_all(scoped_name, "::", "/");
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node = transport::NodePtr(new transport::Node());
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node->Init(scoped_name);
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sub = node->Subscribe(topic, &PneumaticPiston::Callback, this);
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// Connect to the world update event.
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// This will trigger the Update function every Gazebo iteration
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updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&PneumaticPiston::Update, this, _1));
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}
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void PneumaticPiston::Update(const common::UpdateInfo &info) {
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joint->SetForce(0, signal);
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}
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void PneumaticPiston::Callback(const msgs::ConstFloat64Ptr &msg) {
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if (msg->data() < -0.001) { signal = -reverse_force; }
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else if (msg->data() > 0.001) { signal = forward_force; }
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}
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