FlashLightPlugin.hh

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
 
#ifndef GAZEBO_SMACC_PLUGINS_FLASHLIGHTPLUGIN_HH_
#define GAZEBO_SMACC_PLUGINS_FLASHLIGHTPLUGIN_HH_
 
#include <memory>
#include <string>
 
#include <ignition/math/Color.hh>
 
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo_ros/node.hpp>
#include <std_msgs/msg/int8.hpp>
#include <rclcpp/rclcpp.hpp>
 
 
namespace smacc2
{
  using namespace gazebo;
 
  // forward declaration
  class FlashLightSettingPrivate;
 
  class FlashLightSetting
  {
    public: FlashLightSetting(
      const sdf::ElementPtr &_sdf,
      const gazebo::physics::ModelPtr &_model,
      const gazebo::common::Time &_currentTime,
      gazebo_ros::Node::SharedPtr node);
 
    public: virtual ~FlashLightSetting();
 
    public: virtual void InitPubLight(
      const gazebo::transport::PublisherPtr &_pubLight) final;
 
    public:
      virtual void UpdateLightInEnv(const gazebo::common::Time &_currentTime) final;
 
    public: virtual const std::string Name() const final;
 
    public: virtual const gazebo::physics::LinkPtr Link() const final;
 
    public: virtual void SwitchOn() final;
 
    public: virtual void SwitchOff() final;
 
    public: virtual void SetDuration(
      const double _duration, const int _index) final;
 
    public: virtual void SetDuration(const double _duration) final;
 
    public: virtual void SetInterval(
      const double _interval, const int _index) final;
 
    public: virtual void SetInterval(const double _interval) final;
 
    public: virtual void SetColor(
      const ignition::math::Color &_color, const int _index) final;
 
    public: virtual void SetColor(const ignition::math::Color &_color) final;
 
    public: virtual unsigned int BlockCount() final;
 
    public: virtual bool RemoveBlock(const int _index) final;
 
    public: virtual void InsertBlock(
      const double _duration, const double _interval,
      const ignition::math::Color &_color, const int _index) final;
 
    protected: virtual void Flash();
 
    protected: virtual void Dim();
 
    protected: virtual ignition::math::Color CurrentColor() final;
 
    private: std::unique_ptr<FlashLightSettingPrivate> dataPtr;
 
  };
 
 
  // forward declaration
  class FlashLightPluginPrivate;
 
  class FlashLightPlugin : public gazebo::ModelPlugin
  {
    public: FlashLightPlugin();
 
    public: virtual ~FlashLightPlugin();
 
    // Documentation inherited.
    public: void Load(gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf) override;
 
    protected: virtual void OnUpdate();
 
    protected: virtual bool TurnOn(const std::string &_lightName) final;
 
    protected: virtual bool TurnOn(
      const std::string &_lightName, const std::string &_linkName) final;
 
    protected: virtual bool TurnOnAll() final;
 
    protected: virtual bool TurnOff(const std::string &_lightName) final;
 
    protected: virtual bool TurnOff(
      const std::string &_lightName, const std::string &_linkName) final;
 
    protected: virtual bool TurnOffAll() final;
 
    protected: virtual bool ChangeDuration(
      const std::string &_lightName, const std::string &_linkName,
      const double _duration, const int _index) final;
 
    protected: virtual bool ChangeDuration(
      const std::string &_lightName, const std::string &_linkName,
      const double _duration) final;
 
    protected: virtual bool ChangeInterval(
      const std::string &_lightName, const std::string &_linkName,
      const double _interval, const int _index) final;
 
    protected: virtual bool ChangeInterval(
      const std::string &_lightName, const std::string &_linkName,
      const double _interval) final;
 
    protected: virtual bool ChangeColor(
      const std::string &_lightName, const std::string &_linkName,
      const ignition::math::Color &_color, const int _index) final;
 
    protected: virtual bool ChangeColor(
      const std::string &_lightName, const std::string &_linkName,
      const ignition::math::Color &_color) final;
 
    protected: virtual std::shared_ptr<FlashLightSetting> CreateSetting(
      const sdf::ElementPtr &_sdf,
      const gazebo::physics::ModelPtr &_model,
      const gazebo::common::Time &_currentTime,
    gazebo_ros::Node::SharedPtr node);
 
    protected:
      virtual void InitSettingBySpecificData(
        std::shared_ptr<FlashLightSetting> &_setting);
 
    private: std::unique_ptr<FlashLightPluginPrivate> dataPtr;
 
        rclcpp::Subscription<std_msgs::msg::Int8>::SharedPtr cmdledsubscription;
 
  };
}
#endif