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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
69 lines
2.2 KiB
C++
69 lines
2.2 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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#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 "potentiometer.h"
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#include <gazebo/physics/physics.hh>
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#include <gazebo/transport/transport.hh>
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#include <boost/algorithm/string.hpp>
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GZ_REGISTER_MODEL_PLUGIN(Potentiometer)
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Potentiometer::Potentiometer() {}
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Potentiometer::~Potentiometer() {}
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void Potentiometer::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
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this->model = model;
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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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if (sdf->HasElement("units")) {
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radians = sdf->Get<std::string>("units") != "degrees";
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} else {
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radians = true;
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}
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gzmsg << "Initializing potentiometer: " << topic << " joint=" << joint->GetName()
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<< " radians=" << radians << 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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pub = node->Advertise<msgs::Float64>(topic);
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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(&Potentiometer::Update, this, _1));
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}
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void Potentiometer::Update(const common::UpdateInfo &info) {
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joint->GetAngle(0).Normalize();
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msgs::Float64 msg;
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if (radians) {
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msg.set_data(joint->GetAngle(0).Radian());
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} else {
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msg.set_data(joint->GetAngle(0).Degree());
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}
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pub->Publish(msg);
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}
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