mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
44 lines
1.4 KiB
C++
44 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#include "GazeboPWM.h"
|
|
|
|
#include <string>
|
|
|
|
#include <hal/Value.h>
|
|
#include <hal/simulation/NotifyListener.h>
|
|
#include <hal/simulation/PWMData.h>
|
|
|
|
#include "simulation/gz_msgs/msgs.h"
|
|
|
|
static void init_callback(const char* name, void* param,
|
|
const struct HAL_Value* value) {
|
|
GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
|
|
pwm->SetInitialized(value->data.v_boolean);
|
|
}
|
|
|
|
static void speed_callback(const char* name, void* param,
|
|
const struct HAL_Value* value) {
|
|
GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
|
|
if (pwm->IsInitialized()) pwm->Publish(value->data.v_double);
|
|
}
|
|
|
|
GazeboPWM::GazeboPWM(int port, HALSimGazebo* halsim) {
|
|
m_port = port;
|
|
m_halsim = halsim;
|
|
HALSIM_RegisterPWMInitializedCallback(port, init_callback, this, true);
|
|
HALSIM_RegisterPWMSpeedCallback(port, speed_callback, this, true);
|
|
}
|
|
|
|
void GazeboPWM::Publish(double value) {
|
|
if (!m_pub) {
|
|
m_pub = m_halsim->node.Advertise<gazebo::msgs::Float64>(
|
|
"~/simulator/pwm/" + std::to_string(m_port));
|
|
m_pub->WaitForConnection(gazebo::common::Time(1, 0));
|
|
}
|
|
gazebo::msgs::Float64 msg;
|
|
msg.set_data(value);
|
|
if (m_pub) m_pub->Publish(msg);
|
|
}
|