#include <FlashLightPlugin.hh>

Inheritance diagram for smacc2::FlashLightPlugin:

Collaboration diagram for smacc2::FlashLightPlugin:

Public Member Functions
	FlashLightPlugin ()
	Constructor. More...

virtual	~FlashLightPlugin ()
	Destructor. More...

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

Protected Member Functions
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...

Private Attributes
std::unique_ptr< FlashLightPluginPrivate >	dataPtr
	Pointer to private data. More...

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

Detailed Description

Definition at line 164 of file FlashLightPlugin.hh.

Constructor & Destructor Documentation

◆ FlashLightPlugin()

smacc2::FlashLightPlugin::FlashLightPlugin ( )

Constructor.

Definition at line 597 of file FlashLightPlugin.cc.

                                   : gazebo::ModelPlugin(),
  dataPtr(new FlashLightPluginPrivate)
{
  // Create a node
  this->dataPtr->node = gazebo::transport::NodePtr(new gazebo::transport::Node());
  this->dataPtr->node->Init();
 
  // advertise the topic to update lights
  // this->dataPtr->pubLight
  //    = this->dataPtr->node->Advertise<gazebo::msgs::Light>("~/light/modify");
 
  // this->dataPtr->pubLight->WaitForConnection();
}

References dataPtr.

◆ ~FlashLightPlugin()

smacc2::FlashLightPlugin::~FlashLightPlugin ( )

virtual

Destructor.

Definition at line 612 of file FlashLightPlugin.cc.

613{

614}

Member Function Documentation

◆ ChangeColor() [1/2]

bool smacc2::FlashLightPlugin::ChangeColor	(	const std::string &	_lightName,
		const std::string &	_linkName,
		const ignition::math::Color &	_color
	)

finalprotectedvirtual

Change the color of all the blocks of the flashlight.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light
[in]	_color	The new color to set

Returns: True if the specified light is found.

Definition at line 918 of file FlashLightPlugin.cc.

{
  return this->ChangeColor(_lightName, _linkName, _color, -1);
}

References ChangeColor().

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◆ ChangeColor() [2/2]

bool smacc2::FlashLightPlugin::ChangeColor	(	const std::string &	_lightName,
		const std::string &	_linkName,
		const ignition::math::Color &	_color,
		const int	_index
	)

finalprotectedvirtual

Change the color of a specific block of the flashlight. If the index is a negative number, it updates all the blocks.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light
[in]	_color	The new color to set
[in]	_index	The index to the block to update

Returns: True if the specified light is found.

Definition at line 892 of file FlashLightPlugin.cc.

{
  std::shared_ptr<FlashLightSetting> setting
    = this->dataPtr->SettingByLightNameAndLinkName(_lightName, _linkName);
 
  if (setting)
  {
    if (_index >= 0)
    {
      setting->SetColor(_color, _index);
    }
    else
    {
      setting->SetColor(_color);
    }
    return true;
  }
 
  gzerr << "light <" + _lightName + "> does not exist." << std::endl;
  return false;
}

References dataPtr.

Referenced by ChangeColor().

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◆ ChangeDuration() [1/2]

bool smacc2::FlashLightPlugin::ChangeDuration	(	const std::string &	_lightName,
		const std::string &	_linkName,
		const double	_duration
	)

finalprotectedvirtual

Change the duration of all the blocks of the flashlight.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light
[in]	_duration	The new duration time to set

Returns: True if the specified light is found.

Definition at line 848 of file FlashLightPlugin.cc.

{
  return this->ChangeDuration(_lightName, _linkName, _duration, -1);
}

References ChangeDuration().

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◆ ChangeDuration() [2/2]

bool smacc2::FlashLightPlugin::ChangeDuration	(	const std::string &	_lightName,
		const std::string &	_linkName,
		const double	_duration,
		const int	_index
	)

finalprotectedvirtual

Change the duration of a specific block of the flashlight. If the index is a negative number, it updates all the blocks.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light
[in]	_duration	The new duration time to set
[in]	_index	The index to the block to update

Returns: True if the specified light is found.

Definition at line 822 of file FlashLightPlugin.cc.

{
  std::shared_ptr<FlashLightSetting> setting
    = this->dataPtr->SettingByLightNameAndLinkName(_lightName, _linkName);
 
  if (setting)
  {
    if (_index >= 0)
    {
      setting->SetDuration(_duration, _index);
    }
    else
    {
      setting->SetDuration(_duration);
    }
    return true;
  }
 
  gzerr << "light <" + _lightName + "> does not exist." << std::endl;
  return false;
}

References dataPtr.

Referenced by ChangeDuration().

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◆ ChangeInterval() [1/2]

bool smacc2::FlashLightPlugin::ChangeInterval	(	const std::string &	_lightName,
		const std::string &	_linkName,
		const double	_interval
	)

finalprotectedvirtual

Change the interval of all the blocks of the flashlight.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light
[in]	_interval	The new interval time to set

Returns: True if the specified light is found.

Definition at line 883 of file FlashLightPlugin.cc.

{
  return this->ChangeInterval(_lightName, _linkName, _interval, -1);
}

References ChangeInterval().

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◆ ChangeInterval() [2/2]

bool smacc2::FlashLightPlugin::ChangeInterval	(	const std::string &	_lightName,
		const std::string &	_linkName,
		const double	_interval,
		const int	_index
	)

finalprotectedvirtual

Change the interval of a specific block of the flashlight. If the index is a negative number, it updates all the blocks.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light
[in]	_interval	The new interval time to set
[in]	_index	The index to the block to update

Returns: True if the specified light is found.

Definition at line 857 of file FlashLightPlugin.cc.

{
  std::shared_ptr<FlashLightSetting> setting
    = this->dataPtr->SettingByLightNameAndLinkName(_lightName, _linkName);
 
  if (setting)
  {
    if (_index >= 0)
    {
      setting->SetInterval(_interval, _index);
    }
    else
    {
      setting->SetInterval(_interval);
    }
    return true;
  }
 
  gzerr << "light <" + _lightName + "> does not exist." << std::endl;
  return false;
}

References dataPtr.

Referenced by ChangeInterval().

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◆ CreateSetting()

std::shared_ptr< FlashLightSetting > smacc2::FlashLightPlugin::CreateSetting	(	const sdf::ElementPtr &	_sdf,
		const gazebo::physics::ModelPtr &	_model,
		const gazebo::common::Time &	_currentTime,
		gazebo_ros::Node::SharedPtr	node
	)

protectedvirtual

Create an object of setting.

NOTE: This function is internally called in Load() of the base class. If a child class of FlashLightPlugin has also an inherited class of FlashLightSetting, this function must be overridden so that dataPtr deals with objects of the appropriate setting class.

Parameters

[in]	_sdf	SDF data for the setting.
[in]	_model	The Model pointer holding the light to control.
[in]	_currentTime	The current time point.

Returns: A pointer to the newly created setting object.

Reimplemented in smacc2::LedPlugin.

Definition at line 928 of file FlashLightPlugin.cc.

{
  return std::make_shared<FlashLightSetting>(_sdf, _model, _currentTime, node);
}

Referenced by Load().

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◆ InitSettingBySpecificData()

void smacc2::FlashLightPlugin::InitSettingBySpecificData ( std::shared_ptr< FlashLightSetting > & _setting )

protectedvirtual

Initialize the additional part of an object of setting.

NOTE: This function is internally called in Load() of the base class. If a child class of FlashLightPlugin has also an inherited class of FlashLightSetting, this function must be overridden so that the object can be initialized with necessary data. Also, the overridden function must call the original function in it.

Parameters

[in] _setting A pointer to the setting object.

Reimplemented in smacc2::LedPlugin.

Definition at line 938 of file FlashLightPlugin.cc.

{
  _setting->InitPubLight(this->dataPtr->pubLight);
}

References dataPtr.

Referenced by smacc2::LedPlugin::InitSettingBySpecificData(), and Load().

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◆ Load()

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

override

Definition at line 617 of file FlashLightPlugin.cc.

{
  // Store the pointers to the model and world
  this->dataPtr->model = _parent;
  this->dataPtr->world = _parent->GetWorld();
 
  auto node = gazebo_ros::Node::Get(_sdf);
  // Get the current time
  gazebo::common::Time currentTime = this->dataPtr->world->SimTime();
 
  // Get the parameters from sdf
  if (_sdf->HasElement("light"))
  {
    sdf::ElementPtr sdfFlashLight = _sdf->GetElement("light");
    while (sdfFlashLight)
    {
      // id required
      if (sdfFlashLight->HasElement("id"))
      {
        // Create an object of setting.
        std::shared_ptr<FlashLightSetting> setting
          = this->CreateSetting(
              sdfFlashLight, this->dataPtr->model, currentTime, node);
 
        // Initialize the object with the data specific to descendan classes.
        this->InitSettingBySpecificData(setting);
 
        // Store the setting to the list
        this->dataPtr->listFlashLight.push_back(setting);
      }
      else
      {
        // display an error message
        gzerr << "id does not exist in <light>" << std::endl;
      }
 
      sdfFlashLight = sdfFlashLight->GetNextElement("light");
  }
 
  // Turn on/off all the lights if <enable> element is given
  if (_sdf->HasElement("enable"))
  {
    if (_sdf->Get<bool>("enable"))
    {
      this->TurnOnAll();
    }
    else
    {
      this->TurnOffAll();
    }
  }
  // Turn on/off a specific light if <enable> is specifically given.
  if (_sdf->HasElement("light"))
  {
    sdf::ElementPtr sdfFlashLight = _sdf->GetElement("light");
    while (sdfFlashLight)
    {
      if (sdfFlashLight->HasElement("enable"))
      {
        std::string lightId = sdfFlashLight->Get<std::string>("id");
        int posDelim = lightId.rfind("/");
        std::string lightName = lightId.substr(posDelim+1, lightId.length());
        std::string linkName = lightId.substr(0, posDelim);
        if (sdfFlashLight->Get<bool>("enable"))
        {
          this->TurnOn(lightName, linkName);
        }
        else
        {
          this->TurnOff(lightName, linkName);
        }
      }
 
      sdfFlashLight = sdfFlashLight->GetNextElement("light");
    }
  }
 
  // listen to the update event by the World
  if (!this->dataPtr->listFlashLight.empty())
  {
    this->dataPtr->updateConnection = event::Events::ConnectWorldUpdateBegin(
      std::bind(&FlashLightPlugin::OnUpdate, this));
  }
 
    rclcpp::SensorDataQoS qos;
 
    auto topicname = "/"+ this->dataPtr->model->GetName()+  "/cmdled";
 
    boost::replace_all(topicname, "::","/");
 
    gzmsg << "topicname: " << topicname <<"\n";
 
    cmdledsubscription =
    node->create_subscription<std_msgs::msg::Int8>(topicname, qos,
    [this, node]
    (const std_msgs::msg::Int8::SharedPtr msg)
    {
      RCLCPP_INFO(node->get_logger(), "msg received");
      if(msg->data == 0)
      this->TurnOffAll();
      else
      this->TurnOnAll();
 
    });
    }
}

References cmdledsubscription, CreateSetting(), dataPtr, InitSettingBySpecificData(), OnUpdate(), TurnOff(), TurnOffAll(), TurnOn(), and TurnOnAll().

Referenced by smacc2::ControllableLed::Load().

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◆ OnUpdate()

void smacc2::FlashLightPlugin::OnUpdate ( )

protectedvirtual

Called by the world update start event.

update the light

Definition at line 725 of file FlashLightPlugin.cc.

{
  gazebo::common::Time currentTime = this->dataPtr->world->SimTime();
 
  for (auto &setting: this->dataPtr->listFlashLight)
  {
    setting->UpdateLightInEnv(currentTime);
  }
}

References dataPtr.

Referenced by Load().

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◆ TurnOff() [1/2]

bool smacc2::FlashLightPlugin::TurnOff ( const std::string & _lightName )

finalprotectedvirtual

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.

Parameters

[in] _lightName The name of flash light

Returns: True if the specified light is found.

Definition at line 778 of file FlashLightPlugin.cc.

{
  return this->TurnOff(_lightName, "");
}

References TurnOff().

Referenced by Load(), and TurnOff().

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◆ TurnOff() [2/2]

bool smacc2::FlashLightPlugin::TurnOff	(	const std::string &	_lightName,
		const std::string &	_linkName
	)

finalprotectedvirtual

Turn off a flash light specified by the name.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light

Returns: True if the specified light is found.

Definition at line 784 of file FlashLightPlugin.cc.

{
  std::shared_ptr<FlashLightSetting> setting
    = this->dataPtr->SettingByLightNameAndLinkName(_lightName, _linkName);
 
  if (setting)
  {
    setting->SwitchOff();
    return true;
  }
 
  gzerr << "light: [" + _linkName + "/" + _lightName + "] does not exist."
        << std::endl;
  return false;
}

References dataPtr.

◆ TurnOffAll()

bool smacc2::FlashLightPlugin::TurnOffAll ( )

finalprotectedvirtual

Turn off all flash lights.

Returns: True if there is one or more lights to turn off.

Definition at line 802 of file FlashLightPlugin.cc.

{
  gzmsg << "msg TurnOffAll"  << std::endl;
  if (this->dataPtr->listFlashLight.empty())
  {
    gzerr << "no flash lights exist to turn off." << std::endl;
    return false;
  }
 
  gzmsg <<  "switch off" << std::endl;
 
  for (auto &setting: this->dataPtr->listFlashLight)
  {
    setting->SwitchOff();
  }
 
  return true;
}

References dataPtr.

Referenced by smacc2::ControllableLed::LightCmd(), and Load().

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◆ TurnOn() [1/2]

bool smacc2::FlashLightPlugin::TurnOn ( const std::string & _lightName )

finalprotectedvirtual

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.

Parameters

[in] _lightName The name of flash light

Returns: True if the specified light is found.

Definition at line 737 of file FlashLightPlugin.cc.

{
  return this->TurnOn(_lightName, "");
}

References TurnOn().

Referenced by Load(), and TurnOn().

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◆ TurnOn() [2/2]

bool smacc2::FlashLightPlugin::TurnOn	(	const std::string &	_lightName,
		const std::string &	_linkName
	)

finalprotectedvirtual

Turn on a flash light specified by the name and its link.

Parameters

[in]	_lightName	The name of flash light
[in]	_linkName	The name of the link holding the light

Returns: True if the specified light is found.

Definition at line 743 of file FlashLightPlugin.cc.

{
  std::shared_ptr<FlashLightSetting> setting
    = this->dataPtr->SettingByLightNameAndLinkName(_lightName, _linkName);
 
  if (setting)
  {
    setting->SwitchOn();
    return true;
  }
 
  gzerr << "light: [" + _linkName + "/" + _lightName + "] does not exist."
        << std::endl;
  return false;
}

References dataPtr.

◆ TurnOnAll()

bool smacc2::FlashLightPlugin::TurnOnAll ( )

finalprotectedvirtual

Turn on all flash lights.

Returns: True if there is one or more lights to turn on.

Definition at line 761 of file FlashLightPlugin.cc.

{
  if (this->dataPtr->listFlashLight.empty())
  {
    gzerr << "no flash lights exist to turn on." << std::endl;
    return false;
  }
 
  for (auto &setting: this->dataPtr->listFlashLight)
  {
    setting->SwitchOn();
  }
 
  return true;
}

References dataPtr.

Referenced by smacc2::ControllableLed::LightCmd(), and Load().

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Member Data Documentation

◆ cmdledsubscription

rclcpp::Subscription<std_msgs::msg::Int8>::SharedPtr smacc2::FlashLightPlugin::cmdledsubscription

private

Definition at line 307 of file FlashLightPlugin.hh.

Referenced by Load().

◆ dataPtr

std::unique_ptr<FlashLightPluginPrivate> smacc2::FlashLightPlugin::dataPtr

private

Pointer to private data.

Definition at line 305 of file FlashLightPlugin.hh.

Referenced by ChangeColor(), ChangeDuration(), ChangeInterval(), FlashLightPlugin(), InitSettingBySpecificData(), Load(), OnUpdate(), TurnOff(), TurnOffAll(), TurnOn(), and TurnOnAll().

The documentation for this class was generated from the following files:

smacc2_sm_reference_library/sm_husky_barrel_search_1/src/sm_husky_barrel_search_1/gz_plugins/FlashLightPlugin.hh
smacc2_sm_reference_library/sm_husky_barrel_search_1/src/sm_husky_barrel_search_1/gz_plugins/FlashLightPlugin.cc

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FlashLightPlugin()

◆ ~FlashLightPlugin()

Member Function Documentation

◆ ChangeColor() [1/2]

◆ ChangeColor() [2/2]

◆ ChangeDuration() [1/2]

◆ ChangeDuration() [2/2]

◆ ChangeInterval() [1/2]

◆ ChangeInterval() [2/2]

◆ CreateSetting()

◆ InitSettingBySpecificData()

◆ Load()

◆ OnUpdate()

◆ TurnOff() [1/2]

◆ TurnOff() [2/2]

◆ TurnOffAll()

◆ TurnOn() [1/2]

◆ TurnOn() [2/2]

◆ TurnOnAll()

Member Data Documentation

◆ cmdledsubscription

◆ dataPtr