mirror of
https://github.com/wpilibsuite/allwpilib
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112 lines
3.3 KiB
C++
112 lines
3.3 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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#include "gyro.h"
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#include <boost/algorithm/string/replace.hpp>
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GZ_REGISTER_MODEL_PLUGIN(Gyro)
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void Gyro::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
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this->model = model;
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// Parse SDF properties
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link = model->GetLink(sdf->Get<std::string>("link"));
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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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std::string axisString = sdf->Get<std::string>("axis");
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if (axisString == "roll") axis = Roll;
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if (axisString == "pitch") axis = Pitch;
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if (axisString == "yaw") axis = Yaw;
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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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zero = GetAngle();
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gzmsg << "Initializing gyro: " << topic << " link=" << link->GetName()
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<< " axis=" << axis << " radians=" << radians << std::endl;
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// Connect to Gazebo transport for messaging
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std::string scoped_name =
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model->GetWorld()->GetName() + "::" + model->GetScopedName();
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boost::replace_all(scoped_name, "::", "/");
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node = gazebo::transport::NodePtr(new gazebo::transport::Node());
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node->Init(scoped_name);
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command_sub = node->Subscribe(topic + "/control", &Gyro::Callback, this);
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pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
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vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
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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 = gazebo::event::Events::ConnectWorldUpdateBegin(
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boost::bind(&Gyro::Update, this, _1));
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}
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void Gyro::Update(const gazebo::common::UpdateInfo& info) {
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gazebo::msgs::Float64 pos_msg, vel_msg;
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pos_msg.set_data(Limit(GetAngle() - zero));
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pos_pub->Publish(pos_msg);
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vel_msg.set_data(GetVelocity());
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vel_pub->Publish(vel_msg);
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}
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void Gyro::Callback(const gazebo::msgs::ConstStringPtr& msg) {
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std::string command = msg->data();
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if (command == "reset") {
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zero = GetAngle();
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} else {
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gzerr << "WARNING: Gyro got unknown command '" << command << "'."
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<< std::endl;
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}
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}
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double Gyro::GetAngle() {
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if (radians) {
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return link->GetWorldCoGPose().rot.GetAsEuler()[axis];
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} else {
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return link->GetWorldCoGPose().rot.GetAsEuler()[axis] * (180.0 / M_PI);
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}
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}
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double Gyro::GetVelocity() {
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if (radians) {
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return link->GetRelativeAngularVel()[axis];
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} else {
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return link->GetRelativeAngularVel()[axis] * (180.0 / M_PI);
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}
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}
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double Gyro::Limit(double value) {
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if (radians) {
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while (true) {
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if (value < -M_PI)
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value += 2 * M_PI;
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else if (value > M_PI)
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value -= 2 * M_PI;
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else
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break;
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}
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} else {
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while (true) {
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if (value < -180)
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value += 360;
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else if (value > 180)
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value -= 360;
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else
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break;
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}
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}
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return value;
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}
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