Internal data class to hold individual flash light settings. A setting for each flash light is separately stored in a FlashLightSetting class, which takes care of dynamic specifications such as duration and interval. More...

#include <FlashLightPlugin.hh>

Inheritance diagram for smacc2::FlashLightSetting:

Collaboration diagram for smacc2::FlashLightSetting:

Public Member Functions
	FlashLightSetting (const sdf::ElementPtr &_sdf, const gazebo::physics::ModelPtr &_model, const gazebo::common::Time &_currentTime, gazebo_ros::Node::SharedPtr node)
	Constructor. Initialize the setting by the data given to the base plugin. More...

virtual	~FlashLightSetting ()
	Destructor. More...

virtual void	InitPubLight (const gazebo::transport::PublisherPtr &_pubLight) final
	Set the publisher and send an initial light command. More...

virtual void	UpdateLightInEnv (const gazebo::common::Time &_currentTime) final
	Update the light based on the given time. More...

virtual const std::string	Name () const final
	Getter of name. More...

virtual const gazebo::physics::LinkPtr	Link () const final
	Getter of link. More...

virtual void	SwitchOn () final
	Switch on (enable the flashlight). More...

virtual void	SwitchOff () final
	Switch off (disable the flashlight). More...

virtual void	SetDuration (const double _duration, const int _index) final
	Set the duration time for the specified block. More...

virtual void	SetDuration (const double _duration) final
	Set the duration time for all the blocks. More...

virtual void	SetInterval (const double _interval, const int _index) final
	Set the interval time for the specified block. More...

virtual void	SetInterval (const double _interval) final
	Set the interval time for all the blocks. More...

virtual void	SetColor (const ignition::math::Color &_color, const int _index) final
	Set the color for the specified block. More...

virtual void	SetColor (const ignition::math::Color &_color) final
	Set the color for all the blocks. More...

virtual unsigned int	BlockCount () final
	Get the number of blocks. More...

virtual bool	RemoveBlock (const int _index) final
	Remove a specified block. More...

virtual void	InsertBlock (const double _duration, const double _interval, const ignition::math::Color &_color, const int _index) final
	Insert a block. Create a block with specified parameters. If the index is out of range, the block will be appended at the end of the list. More...

Protected Member Functions
virtual void	Flash ()
	Flash the light This function is internally used to update the light in the environment. More...

virtual void	Dim ()
	Dim the light This function is internally used to update the light in the environment. More...

virtual ignition::math::Color	CurrentColor () final
	Get the current color of the light. This is to be used by an inheriting class of FlashLightSetting class. More...

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

Detailed Description

Internal data class to hold individual flash light settings. A setting for each flash light is separately stored in a FlashLightSetting class, which takes care of dynamic specifications such as duration and interval.

Definition at line 48 of file FlashLightPlugin.hh.

Constructor & Destructor Documentation

◆ FlashLightSetting()

smacc2::FlashLightSetting::FlashLightSetting	(	const sdf::ElementPtr &	_sdf,
		const gazebo::physics::ModelPtr &	_model,
		const gazebo::common::Time &	_currentTime,
		gazebo_ros::Node::SharedPtr	node
	)

Constructor. Initialize the setting by the data given to the base plugin.

Parameters

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

Definition at line 184 of file FlashLightPlugin.cc.

  : dataPtr(new FlashLightSettingPrivate)
{
  // Get the light name.
  std::string lightId;
  if (_sdf->HasElement("id"))
  {
    lightId = _sdf->Get<std::string>("id");
  }
  else
  {
    gzerr << "Parameter <id> is missing." << std::endl;
  }
  int posDelim = lightId.rfind("/");
  this->dataPtr->name = lightId.substr(posDelim+1, lightId.length());
 
  // link which holds this light
  this->dataPtr->link = this->dataPtr->FindLinkForLight(
                 _model, this->dataPtr->name,
                 lightId.substr(0, posDelim));
 
  if (_sdf->HasElement("block"))
  {
    sdf::ElementPtr sdfBlock = _sdf->GetElement("block");
    while (sdfBlock)
    {
      auto block = std::make_shared<Block>();
      // duration
      if (sdfBlock->HasElement("duration"))
      {
        block->duration = sdfBlock->Get<double>("duration");
      }
      else
      {
        //gzerr << "Parameter <duration> is missing in a block." << std::endl;
             block->duration = std::numeric_limits<double>::max();
 
      }
      // interval
      if (sdfBlock->HasElement("interval"))
      {
        block->interval = sdfBlock->Get<double>("interval");
      }
      else
      {
        //gzerr << "Parameter <interval> is missing in a block." << std::endl;
                   block->interval = std::numeric_limits<double>::max();
 
      }
      // color
      if (sdfBlock->HasElement("color"))
      {
        block->color = sdfBlock->Get<ignition::math::Color>("color");
      }
      else
      {
        block->color.Reset();
      }
 
      this->dataPtr->blocks.push_back(block);
      sdfBlock = sdfBlock->GetNextElement("block");
    }
  }
  else
  {
    auto block = std::make_shared<Block>();
    // duration
    if (_sdf->HasElement("duration"))
    {
      block->duration = _sdf->Get<double>("duration");
    }
    else
    {
      // gzerr << "Parameter <duration> is missing." << std::endl;
                         block->duration = std::numeric_limits<double>::max();
 
    }
    // interval
    if (_sdf->HasElement("interval"))
    {
      block->interval = _sdf->Get<double>("interval");
    }
    else
    {
      // gzerr << "Parameter <interval> is missing." << std::endl;
                         block->interval = std::numeric_limits<double>::max();
 
    }
    // color
    if (_sdf->HasElement("color"))
    {
      block->color = _sdf->Get<ignition::math::Color>("color");
    }
    else
    {
      block->color.Reset();
    }
 
    this->dataPtr->blocks.push_back(block);
  }
 
  // start time
  this->dataPtr->startTime = _currentTime;
 
  // If link is not nullptr, the light exists.
  if (this->dataPtr->link)
  {
 
 
  // void LightCmd(const std_msgs::msg::Int8::SharedPtr msg)
  // {
  //   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);
  //   }
  // }
    // range
    if (this->dataPtr->link->GetSDF()->HasElement("light"))
    {
      auto sdfLight = this->dataPtr->link->GetSDF()->GetElement("light");
      while (sdfLight)
      {
        if (sdfLight->Get<std::string>("name") == this->dataPtr->name)
        {
          this->dataPtr->range
            = sdfLight->GetElement("attenuation")->Get<double>("range");
          break;
        }
        sdfLight = sdfLight->GetNextElement("light");
      }
      this->dataPtr->lightExists = true;
    }
  }
}

References dataPtr.

◆ ~FlashLightSetting()

smacc2::FlashLightSetting::~FlashLightSetting ( )

virtual

Destructor.

Definition at line 334 of file FlashLightPlugin.cc.

335{

336}

Member Function Documentation

◆ BlockCount()

unsigned int smacc2::FlashLightSetting::BlockCount ( )

finalvirtual

Get the number of blocks.

Returns: The number of blocks the object currently has.

Definition at line 514 of file FlashLightPlugin.cc.

{
  return this->dataPtr->blocks.size();
}

References dataPtr.

◆ CurrentColor()

ignition::math::Color smacc2::FlashLightSetting::CurrentColor ( )

finalprotectedvirtual

Get the current color of the light. This is to be used by an inheriting class of FlashLightSetting class.

Returns: the color for the current block which the object is using. It returns Black if there is no update about color.

Definition at line 591 of file FlashLightPlugin.cc.

{
  return this->dataPtr->blocks[this->dataPtr->currentBlockIndex]->color;
}

References dataPtr.

Referenced by smacc2::LedSetting::Flash().

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◆ Dim()

void smacc2::FlashLightSetting::Dim ( )

protectedvirtual

Dim the light This function is internally used to update the light in the environment.

Reimplemented in smacc2::LedSetting.

Definition at line 577 of file FlashLightPlugin.cc.

{
  // Set the range to zero.
  this->dataPtr->msg.set_range(0.0);
  // Send the message.
  if (this->dataPtr->lightExists)
  {
    //this->dataPtr->pubLight->Publish(this->dataPtr->msg);
  }
  // Update the state.
  this->dataPtr->flashing = false;
}

References dataPtr.

Referenced by smacc2::LedSetting::Dim(), and UpdateLightInEnv().

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◆ Flash()

void smacc2::FlashLightSetting::Flash ( )

protectedvirtual

Flash the light This function is internally used to update the light in the environment.

Reimplemented in smacc2::LedSetting.

Definition at line 554 of file FlashLightPlugin.cc.

{
  // Set the range to the default value.
  this->dataPtr->msg.set_range(this->dataPtr->range);
  // set the color of light.
  if (this->dataPtr->blocks[this->dataPtr->currentBlockIndex]->color
    != ignition::math::Color::Black)
  {
    msgs::Set(this->dataPtr->msg.mutable_diffuse(),
      this->dataPtr->blocks[this->dataPtr->currentBlockIndex]->color);
    msgs::Set(this->dataPtr->msg.mutable_specular(),
      this->dataPtr->blocks[this->dataPtr->currentBlockIndex]->color);
  }
  // Send the message.
  if (this->dataPtr->lightExists)
  {
    //this->dataPtr->pubLight->Publish(this->dataPtr->msg);
  }
  // Update the state.
  this->dataPtr->flashing = true;
}

References dataPtr.

Referenced by smacc2::LedSetting::Flash(), and UpdateLightInEnv().

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◆ InitPubLight()

void smacc2::FlashLightSetting::InitPubLight ( const gazebo::transport::PublisherPtr & _pubLight )

finalvirtual

Set the publisher and send an initial light command.

Parameters

[in] _pubLight The publisher to send a message

Definition at line 339 of file FlashLightPlugin.cc.

{
  // The PublisherPtr
  this->dataPtr->pubLight = _pubLight;
 
  if (this->dataPtr->lightExists)
  {
    // Make a message
    this->dataPtr->msg.set_name(
      this->dataPtr->link->GetScopedName() + "::" + this->dataPtr->name);
    this->dataPtr->msg.set_range(this->dataPtr->range);
  }
}

References dataPtr.

◆ InsertBlock()

void smacc2::FlashLightSetting::InsertBlock	(	const double	_duration,
		const double	_interval,
		const ignition::math::Color &	_color,
		const int	_index
	)

finalvirtual

Insert a block. Create a block with specified parameters. If the index is out of range, the block will be appended at the end of the list.

Parameters

[in]	_duration	The duration for the block.
[in]	_interval	The interval for the block.
[in]	_color	The color for the block.
[in]	_index	The index of the block to be inserted into the list.

Definition at line 533 of file FlashLightPlugin.cc.

{
  auto block = std::make_shared<Block>();
 
  block->duration = _duration;
  block->interval = _interval;
  block->color = _color;
 
  if (_index < 0 || static_cast<int>(this->dataPtr->blocks.size()) <= _index)
  {
    this->dataPtr->blocks.push_back(block);
  }
  else
  {
    this->dataPtr->blocks.insert(this->dataPtr->blocks.begin() + _index, block);
  }
}

References dataPtr.

◆ Link()

const gazebo::physics::LinkPtr smacc2::FlashLightSetting::Link ( ) const

finalvirtual

Getter of link.

Returns: A pointer to the link element.

Definition at line 427 of file FlashLightPlugin.cc.

{
  return this->dataPtr->link;
}

References dataPtr.

Referenced by smacc2::LedSetting::Dim(), smacc2::LedSetting::Flash(), smacc2::LedSetting::InitPubVisual(), and smacc2::LedSetting::LedSetting().

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◆ Name()

const std::string smacc2::FlashLightSetting::Name ( ) const

finalvirtual

Getter of name.

Returns: The name of the light element.

Definition at line 421 of file FlashLightPlugin.cc.

{
  return this->dataPtr->name;
}

References dataPtr.

Referenced by smacc2::LedSetting::InitPubVisual().

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◆ RemoveBlock()

bool smacc2::FlashLightSetting::RemoveBlock ( const int _index )

finalvirtual

Remove a specified block.

Parameters

[in] _index Index to the block to remove

Returns: True if the block exists and it was removed.

Definition at line 520 of file FlashLightPlugin.cc.

{
  if (_index < 0 || static_cast<int>(this->dataPtr->blocks.size()) <= _index)
  {
    return false;
  }
 
  this->dataPtr->blocks.erase(this->dataPtr->blocks.begin() + _index);
 
  return true;
}

References dataPtr.

◆ SetColor() [1/2]

void smacc2::FlashLightSetting::SetColor ( const ignition::math::Color & _color )

finalvirtual

Set the color for all the blocks.

Parameters

[in] _color New color to set.

Definition at line 505 of file FlashLightPlugin.cc.

{
  for (auto block: this->dataPtr->blocks)
  {
    block->color = _color;
  }
}

References dataPtr.

◆ SetColor() [2/2]

void smacc2::FlashLightSetting::SetColor	(	const ignition::math::Color &	_color,
		const int	_index
	)

finalvirtual

Set the color for the specified block.

Parameters

[in]	_color	New color to set.
[in]	_index	The index to the block to update.

Definition at line 491 of file FlashLightPlugin.cc.

{
  if (0 <= _index && _index < static_cast<int>(this->dataPtr->blocks.size()))
  {
    this->dataPtr->blocks[_index]->color = _color;
  }
  else
  {
    gzerr << "The given index for block is out of range." << std::endl;
  }
}

References dataPtr.

◆ SetDuration() [1/2]

void smacc2::FlashLightSetting::SetDuration ( const double _duration )

finalvirtual

Set the duration time for all the blocks.

Parameters

[in] _duration New duration time to set.

Definition at line 460 of file FlashLightPlugin.cc.

{
  for (auto block: this->dataPtr->blocks)
  {
    block->duration = _duration;
  }
}

References dataPtr.

◆ SetDuration() [2/2]

void smacc2::FlashLightSetting::SetDuration	(	const double	_duration,
		const int	_index
	)

finalvirtual

Set the duration time for the specified block.

Parameters

[in]	_duration	New duration time to set.
[in]	_index	The index to the block to update.

Definition at line 447 of file FlashLightPlugin.cc.

{
  if (0 <= _index && _index < static_cast<int>(this->dataPtr->blocks.size()))
  {
    this->dataPtr->blocks[_index]->duration = _duration;
  }
  else
  {
    gzerr << "The given index for block is out of range." << std::endl;
  }
}

References dataPtr.

◆ SetInterval() [1/2]

void smacc2::FlashLightSetting::SetInterval ( const double _interval )

finalvirtual

Set the interval time for all the blocks.

Parameters

[in] _interval New interval time to set.

Definition at line 482 of file FlashLightPlugin.cc.

{
  for (auto block: this->dataPtr->blocks)
  {
    block->interval = _interval;
  }
}

References dataPtr.

◆ SetInterval() [2/2]

void smacc2::FlashLightSetting::SetInterval	(	const double	_interval,
		const int	_index
	)

finalvirtual

Set the interval time for the specified block.

Parameters

[in]	_interval	New interval time to set.
[in]	_index	The index to the block to update.

Definition at line 469 of file FlashLightPlugin.cc.

{
  if (0 <= _index && _index < static_cast<int>(this->dataPtr->blocks.size()))
  {
    this->dataPtr->blocks[_index]->interval = _interval;
  }
  else
  {
    gzerr << "The given index for block is out of range." << std::endl;
  }
}

References dataPtr.

◆ SwitchOff()

void smacc2::FlashLightSetting::SwitchOff ( )

finalvirtual

Switch off (disable the flashlight).

Definition at line 439 of file FlashLightPlugin.cc.

{
  gzmsg <<  "switch off" << std::endl;
 
  this->dataPtr->switchOn = false;
}

References dataPtr.

◆ SwitchOn()

void smacc2::FlashLightSetting::SwitchOn ( )

finalvirtual

Switch on (enable the flashlight).

Definition at line 433 of file FlashLightPlugin.cc.

{
  this->dataPtr->switchOn = true;
}

References dataPtr.

◆ UpdateLightInEnv()

void smacc2::FlashLightSetting::UpdateLightInEnv ( const gazebo::common::Time & _currentTime )

finalvirtual

Update the light based on the given time.

Parameters

[in] _currentTime The current point of time to update the lights.

Definition at line 355 of file FlashLightPlugin.cc.

{
  if (this->dataPtr->switchOn)
  {
    this->Flash();
 
  }
  else
  {
    this->Dim();
  }
 
  // int index = this->dataPtr->currentBlockIndex;
 
  // // Reset the start time so the current time is within the current phase.
  // if (_currentTime < this->dataPtr->startTime ||
  //     this->dataPtr->startTime
  //     + this->dataPtr->blocks[index]->duration
  //     + this->dataPtr->blocks[index]->interval <= _currentTime)
  // {
  //   // initialize the start time.
  //   this->dataPtr->startTime = _currentTime;
  //   // proceed to the next block.
  //   index++;
  //   if (index >= static_cast<int>(this->dataPtr->blocks.size()))
  //   {
  //     index = 0;
  //   }
  //   this->dataPtr->currentBlockIndex = index;
  // }
 
  // if (this->dataPtr->switchOn)
  // {
  //   // time to dim
  //   if (_currentTime - this->dataPtr->startTime
  //     > this->dataPtr->blocks[index]->duration)
  //   {
  //     if (this->dataPtr->flashing)
  //     {
  //       this->Dim();
  //     }
  //   }
  //   // time to flash
  //   else
  //   {
  //     // if there is more than one block, it calls Flash() at the beginning of
  //     // every block.
  //     if (this->dataPtr->blocks.size() > 1
  //       && this->dataPtr->startTime == _currentTime)
  //     {
  //       this->Flash();
  //     }
  //     // otherwise, it calls the function only if the light is not lit yet.
  //     else if (!this->dataPtr->flashing)
  //     {
  //       this->Flash();
  //     }
  //   }
  // }
  // else if (this->dataPtr->flashing)
  // {
  //   this->Dim();
  // }
}

References dataPtr, Dim(), and Flash().

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Member Data Documentation

◆ dataPtr

std::unique_ptr<FlashLightSettingPrivate> smacc2::FlashLightSetting::dataPtr

private

Pointer to private data.

Definition at line 156 of file FlashLightPlugin.hh.

Referenced by BlockCount(), CurrentColor(), Dim(), Flash(), FlashLightSetting(), InitPubLight(), InsertBlock(), Link(), Name(), RemoveBlock(), SetColor(), SetDuration(), SetInterval(), SwitchOff(), SwitchOn(), and UpdateLightInEnv().

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

◆ FlashLightSetting()

◆ ~FlashLightSetting()

Member Function Documentation

◆ BlockCount()

◆ CurrentColor()

◆ Dim()

◆ Flash()

◆ InitPubLight()

◆ InsertBlock()

◆ Link()

◆ Name()

◆ RemoveBlock()

◆ SetColor() [1/2]

◆ SetColor() [2/2]

◆ SetDuration() [1/2]

◆ SetDuration() [2/2]

◆ SetInterval() [1/2]

◆ SetInterval() [2/2]

◆ SwitchOff()

◆ SwitchOn()

◆ UpdateLightInEnv()

Member Data Documentation

◆ dataPtr