Internal data class to hold individual LED light settings. More...

#include <LedPlugin.hh>

Inheritance diagram for smacc2::LedSetting:

Collaboration diagram for smacc2::LedSetting:

Public Member Functions
	LedSetting (const sdf::ElementPtr &_sdf, const gazebo::physics::ModelPtr &_model, const gazebo::common::Time &_currentTime, gazebo_ros::Node::SharedPtr rosnode)
	Constructor. More...

virtual	~LedSetting ()
	Destructor. More...

virtual void	InitPubVisual (const gazebo::transport::PublisherPtr &_pubVisual) final
	Set the publisher and send an initial visual command. More...

Public Member Functions inherited from 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. 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...

Protected Member Functions inherited from smacc2::FlashLightSetting
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< LedSettingPrivate >	dataPtr
	Pointer to private data. More...

Detailed Description

Internal data class to hold individual LED light settings.

Definition at line 38 of file LedPlugin.hh.

Constructor & Destructor Documentation

◆ LedSetting()

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

Constructor.

Definition at line 75 of file LedPlugin.cc.

  : FlashLightSetting(_sdf, _model, _currentTime, rosnode),
  dataPtr(new LedSettingPrivate)
{
  // check if the visual element exists.
  this->dataPtr->visualExists = false;
  msgs::Link msg;
  this->Link()->FillMsg(msg);
  for (auto visualMsg : msg.visual())
  {
    if (visualMsg.name()
      == this->Link()->GetScopedName() + "::" + this->Name())
    {
      if (visualMsg.has_transparency())
      {
        this->dataPtr->transparency = visualMsg.transparency();
      }
 
      if (visualMsg.has_material()
        && visualMsg.material().has_emissive())
      {
        this->dataPtr->defaultEmissiveColor
          = msgs::Convert(visualMsg.material().emissive());
      }
 
      this->dataPtr->visualExists = true;
      break;
    }
  }
}

References dataPtr, and smacc2::FlashLightSetting::Link().

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◆ ~LedSetting()

smacc2::LedSetting::~LedSetting ( )

virtual

Destructor.

Definition at line 111 of file LedPlugin.cc.

112{

113}

Member Function Documentation

◆ Dim()

void smacc2::LedSetting::Dim ( )

protectedvirtual

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

Reimplemented from smacc2::FlashLightSetting.

Definition at line 174 of file LedPlugin.cc.

{
  // Call the function of the parent class.
  FlashLightSetting::Dim();
 
  // Make the appearance darker.
  this->dataPtr->msg.set_transparency(this->dataPtr->transparency);
  msgs::Set(this->dataPtr->msg.mutable_material()->mutable_emissive(),
    ignition::math::Color(0, 0, 0));
  // Send the message.
  if (this->dataPtr->visualExists)
  {
    // NOTE: this if statement is to make sure that a visual object to update
    // has been created in the environment before publishing a message.
    // Otherwise, a duplicate object will be created and the original one will
    // never be updated.
    // This problem is solved by the patch (Pull Request # 2983), which has
    // been merged into gazebo7 as of July 16, 2018. This if statement should be
    // removed once the patch is forwarded up to gazebo9.
    if (this->Link()->GetWorld()->SimTime() > 2.0)
      this->dataPtr->pubVisual->Publish(this->dataPtr->msg);
  }
}

References dataPtr, smacc2::FlashLightSetting::Dim(), and smacc2::FlashLightSetting::Link().

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◆ Flash()

void smacc2::LedSetting::Flash ( )

protectedvirtual

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

Reimplemented from smacc2::FlashLightSetting.

Definition at line 134 of file LedPlugin.cc.

{
  // Call the function of the parent class.
  FlashLightSetting::Flash();
 
  // Make the appearance brighter.
  this->dataPtr->msg.set_transparency(0.0);
  ignition::math::Color color = this->CurrentColor();
  if (color != ignition::math::Color::Black)
  {
    // If the base class is using a specific color rather than the default,
    // apply it to the visual object.
    msgs::Set(this->dataPtr->msg.mutable_material()->mutable_diffuse(), color);
    msgs::Set(this->dataPtr->msg.mutable_material()->mutable_emissive(), color);
    msgs::Set(this->dataPtr->msg.mutable_material()->mutable_specular(), color);
    msgs::Set(this->dataPtr->msg.mutable_material()->mutable_ambient(), color);
  }
  else
  {
    // Otherwise, just apply the default color.
    msgs::Set(this->dataPtr->msg.mutable_material()->mutable_emissive(),
      this->dataPtr->defaultEmissiveColor);
  }
 
  // Send the message.
  if (this->dataPtr->visualExists)
  {
    // NOTE: this if statement is to make sure that a visual object to update
    // has been created in the environment before publishing a message.
    // Otherwise, a duplicate object will be created and the original one will
    // never be updated.
    // This problem is solved by the patch (Pull Request # 2983), which has
    // been merged into gazebo7 as of July 16, 2018. This if statement should be
    // removed once the patch is forwarded up to gazebo9.
    if (this->Link()->GetWorld()->SimTime() > 2.0)
      this->dataPtr->pubVisual->Publish(this->dataPtr->msg);
  }
}

References smacc2::FlashLightSetting::CurrentColor(), dataPtr, smacc2::FlashLightSetting::Flash(), and smacc2::FlashLightSetting::Link().

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◆ InitPubVisual()

void smacc2::LedSetting::InitPubVisual ( const gazebo::transport::PublisherPtr & _pubVisual )

finalvirtual

Set the publisher and send an initial visual command.

Parameters

[in] _pubVisual The publisher to send a message

Definition at line 116 of file LedPlugin.cc.

{
  // The PublisherPtr
  this->dataPtr->pubVisual = _pubVisual;
 
  if (this->dataPtr->visualExists)
  {
    // Make a message
    this->dataPtr->msg.set_name(
      this->Link()->GetScopedName() + "::" + this->Name());
    this->dataPtr->msg.set_parent_name(this->Link()->GetScopedName());
    uint32_t id;
    this->Link()->VisualId(this->Name(), id);
    this->dataPtr->msg.set_id(id);
  }
}

References dataPtr, smacc2::FlashLightSetting::Link(), and smacc2::FlashLightSetting::Name().

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Member Data Documentation

◆ dataPtr

std::unique_ptr<LedSettingPrivate> smacc2::LedSetting::dataPtr

private

Pointer to private data.

Definition at line 62 of file LedPlugin.hh.

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

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

Detailed Description

Constructor & Destructor Documentation

◆ LedSetting()

◆ ~LedSetting()

Member Function Documentation

◆ Dim()

◆ Flash()

◆ InitPubVisual()

Member Data Documentation

◆ dataPtr