A plugin that blinks light and visual elements in a model. In addition to the features of the base plugin, FlashLightPlugin, this plugin accesses a <visual> element to make it blink. More...

#include <LedPlugin.hh>

Inheritance diagram for smacc2::LedPlugin:

Collaboration diagram for smacc2::LedPlugin:

Public Member Functions
	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

Protected Member Functions
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...

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

Detailed Description

A plugin that blinks light and visual elements in a model. In addition to the features of the base plugin, FlashLightPlugin, this plugin accesses a <visual> element to make it blink.

The <light> and <visual> element to control must have the identical name and specified by <light_id>, including the name of the link, which they are attached on, and their name separated by a slash "/".

Other parameters are inherited from the base plugin, FlashLightPlugin.

Example:

/// <model name='light_model'>
///   ...
///   <link name='light_source'>
///     ...
///     <light name='lamp' type='point'>
///       ...
///     </light>
///     <visual name='lamp'>
///       ...
///     </visual>
///   </link>
///   ...
///   <plugin name='light_control' filename='libLedPlugin.so'>
///     <light>
///       <id>light_source/lamp</id>
///       <block>
///         <duration>1</duration>
///         <interval>1</interval>
///         <color>1 0.5 0.5</color>
///       </block>
///       <enable>true</enable>
///     </light>
///   </plugin>
/// </model>
///

Definition at line 106 of file LedPlugin.hh.

Constructor & Destructor Documentation

◆ LedPlugin()

smacc2::LedPlugin::LedPlugin ( )

Constructor.

Definition at line 199 of file LedPlugin.cc.

                     : FlashLightPlugin(), dataPtr(new LedPluginPrivate)
{
  // 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->pubVisual
    = this->dataPtr->node->Advertise<gazebo::msgs::Visual>("~/visual");
  // NOTE: it should not call WaitForConnection() since there could be no
  // subscriber to "~/visual" topic if the render engine is not running (e.g.,
  // rostest), leading to a hang-up.
}

References dataPtr.

◆ ~LedPlugin()

smacc2::LedPlugin::~LedPlugin ( )

virtual

Destructor.

Definition at line 214 of file LedPlugin.cc.

215{

216}

Member Function Documentation

◆ CreateSetting()

std::shared_ptr< FlashLightSetting > smacc2::LedPlugin::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 from smacc2::FlashLightPlugin.

Definition at line 219 of file LedPlugin.cc.

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

◆ InitSettingBySpecificData()

void smacc2::LedPlugin::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 from smacc2::FlashLightPlugin.

Definition at line 229 of file LedPlugin.cc.

{
  // Call the function of the parent class.
  FlashLightPlugin::InitSettingBySpecificData(_setting);
 
  std::dynamic_pointer_cast<LedSetting>(_setting)->InitPubVisual(
    this->dataPtr->pubVisual);
}

References dataPtr, and smacc2::FlashLightPlugin::InitSettingBySpecificData().

Here is the call graph for this function:

Member Data Documentation

◆ dataPtr

std::unique_ptr<LedPluginPrivate> smacc2::LedPlugin::dataPtr

private

Pointer to private data.

Definition at line 126 of file LedPlugin.hh.

Referenced by InitSettingBySpecificData(), and LedPlugin().

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

Public Member Functions

Protected Member Functions

Private Attributes