Inheritance diagram for smacc2::ControllableLed:

Collaboration diagram for smacc2::ControllableLed:

Public Member Functions
	ControllableLed ()

void	LightCmd (const std_msgs::msg::Int8::SharedPtr msg)

void	Load (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf) override

void	OnCommand (ConstIntPtr &_msg)

Public Member Functions inherited from smacc2::LedPlugin
	LedPlugin ()
	Constructor. More...

virtual	~LedPlugin ()
	Destructor. More...

Public Member Functions inherited from smacc2::FlashLightPlugin
	FlashLightPlugin ()
	Constructor. More...

virtual	~FlashLightPlugin ()
	Destructor. More...

void	Load (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf) override

Public Attributes
gazebo_ros::Node::SharedPtr	ros_node_
	A pointer to the GazeboROS node. More...

rclcpp::Subscription< std_msgs::msg::Int8 >::SharedPtr	subscription_

Additional Inherited Members
Protected Member Functions inherited from smacc2::LedPlugin
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)
	Create an object of setting. More...

virtual void	InitSettingBySpecificData (std::shared_ptr< FlashLightSetting > &_setting)
	Initialize the additional part of an object of setting. More...

Protected Member Functions inherited from smacc2::FlashLightPlugin
virtual void	OnUpdate ()
	Called by the world update start event. More...

virtual bool	TurnOn (const std::string &_lightName) final
	Turn on a flash light specified by the light name If more than one link have lights with the identical name, the first appearing light in the list will be updated. More...

virtual bool	TurnOn (const std::string &_lightName, const std::string &_linkName) final
	Turn on a flash light specified by the name and its link. More...

virtual bool	TurnOnAll () final
	Turn on all flash lights. More...

virtual bool	TurnOff (const std::string &_lightName) final
	Turn off a flash light specified by the name If more than one link have lights with the identical name, the first appearing light in the list will be updated. More...

virtual bool	TurnOff (const std::string &_lightName, const std::string &_linkName) final
	Turn off a flash light specified by the name. More...

virtual bool	TurnOffAll () final
	Turn off all flash lights. More...

virtual bool	ChangeDuration (const std::string &_lightName, const std::string &_linkName, const double _duration, const int _index) final
	Change the duration of a specific block of the flashlight. If the index is a negative number, it updates all the blocks. More...

virtual bool	ChangeDuration (const std::string &_lightName, const std::string &_linkName, const double _duration) final
	Change the duration of all the blocks of the flashlight. More...

virtual bool	ChangeInterval (const std::string &_lightName, const std::string &_linkName, const double _interval, const int _index) final
	Change the interval of a specific block of the flashlight. If the index is a negative number, it updates all the blocks. More...

virtual bool	ChangeInterval (const std::string &_lightName, const std::string &_linkName, const double _interval) final
	Change the interval of all the blocks of the flashlight. More...

virtual bool	ChangeColor (const std::string &_lightName, const std::string &_linkName, const ignition::math::Color &_color, const int _index) final
	Change the color of a specific block of the flashlight. If the index is a negative number, it updates all the blocks. More...

virtual bool	ChangeColor (const std::string &_lightName, const std::string &_linkName, const ignition::math::Color &_color) final
	Change the color of all the blocks of the flashlight. More...

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)
	Create an object of setting. More...

virtual void	InitSettingBySpecificData (std::shared_ptr< FlashLightSetting > &_setting)
	Initialize the additional part of an object of setting. More...

Detailed Description

Definition at line 38 of file controllable_led_plugin.cpp.

Constructor & Destructor Documentation

◆ ControllableLed()

smacc2::ControllableLed::ControllableLed ( )

inline

Definition at line 45 of file controllable_led_plugin.cpp.

                    : LedPlugin()
  {
    gzmsg << "Loading ControllableLed plugin\n";
    // Transport initialization
    // this->gzNode = gazebo::transport::NodePtr(new gazebo::transport::Node());
    // this->gzNode->Init();
 
    // Subscribe to ContainPlugin output
    //std::string topic("/test_cmd");
 
    // const bool containSub = this->dataPtr->node.Subscribe(topic,  &ControllableLed::OnCommand2, this);
    // //containSub = this->gzNode->Subscribe(topic, &ControllableLed::OnCommand, this);
 
    // if (!containSub)
    // {
    //   gzerr << "Failed to subscribe to [" << topic << "]\n";
    // }
    // else
    // {
    //   gzmsg << "Subscribed to [" << topic << "]\n";
    // }
 
    // Subscribe to ContainPlugin output
    // std::string topic("contain_example/contain");
    // std::function<void(const ignition::msgs::Boolean &)> cb =
    //   [=](const ignition::msgs::Boolean & _msg)
    // {
    //   //TurnOnLightPlugin::OnContainPluginMsg(_msg);
    // };
    // const bool containSub = this->node.Subscribe(topic, cb);
    // if (!containSub)
    // {
    //   gzerr << "Failed to subscribe to [" << topic << "]\n";
    // }
  }

Member Function Documentation

◆ LightCmd()

void smacc2::ControllableLed::LightCmd ( const std_msgs::msg::Int8::SharedPtr msg )

inline

Definition at line 81 of file controllable_led_plugin.cpp.

  {
    gzmsg << "Turning on light\n";
 
    if (msg->data == 1)
    {
      gzmsg << "Turning on light\n";
      this->TurnOnAll();
      // lightMsg.set_range(15.0);
    }
    else if (msg->data == 0)
    {
      gzmsg << "Turning off light\n";
      this->TurnOffAll();
      // lightMsg.set_range(0.0);
    }
  }

References smacc2::FlashLightPlugin::TurnOffAll(), and smacc2::FlashLightPlugin::TurnOnAll().

Here is the call graph for this function:

◆ Load()

void smacc2::ControllableLed::Load	(	gazebo::physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

inlineoverride

Definition at line 99 of file controllable_led_plugin.cpp.

  {
    // Subscribe to wrench messages
    // ros_node_ = gazebo_ros::Node::Get(_sdf);
 
    // subscription_ = ros_node_->create_subscription<std_msgs::msg::Int8>(
    //   "led_cmd", rclcpp::SystemDefaultsQoS(),
    //   std::bind(&ControllableLed::LightCmd, this, std::placeholders::_1));
 
    // // Make a publisher for the light topic
    // this->lightPub = this->gzNode->Advertise<msgs::Light>("~/light/modify");
 
    LedPlugin::Load(_parent, _sdf);
    //this->TurnOnAll();
  }