A plugin that blinks a light component in the model. More...

#include <FlashLightPlugin.hh>

Inherited by LedPlugin.

Public Types
typedef boost::shared_ptr< ModelPlugin >	TPtr
	plugin pointer type definition More...

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

virtual	~FlashLightPlugin ()
	Destructor. More...

std::string	GetFilename () const
	Get the name of the handler. More...

std::string	GetHandle () const
	Get the short name of the handler. More...

PluginType	GetType () const
	Returns the type of the plugin. More...

virtual void	Init ()
	Override this method for custom plugin initialization behavior. More...

void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf) override
	Load function. More...

virtual void	Reset ()
	Override this method for custom plugin reset behavior. More...

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
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. 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 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. 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. 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 std::shared_ptr< FlashLightSetting >	CreateSetting (const sdf::ElementPtr &_sdf, const physics::ModelPtr &_model, const common::Time &_currentTime)
	Create an object of setting. More...

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

void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

virtual void	OnUpdate ()
	Called by the world update start event. 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	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...

Protected Attributes
std::string	filename
	Path to the shared library file. More...

std::string	handleName
	Short name. More...

PluginType	type
	Type of plugin. More...

Detailed Description

A plugin that blinks a light component in the model.

This plugin accesses <light> elements in the model specified by <light> as a parameter. More than one <light> can exist.

NOTE: This base class provides basic functions to control the lights. Users can create their own flash light plugin by inheriting this base model plugin.

A light is specified by <id>, including link and light names separated by a slash "/".

<enable> is optional. The default value is true. When it is set to true, a light starts flashing from the beginning. If <enable> is directly under the <plugin>, it affects all the lights. If it is under <light>, it individually affects the corresponding light. When it is set to false, the light is off, and it is necessary to call TurnOn() or TurnOnAll() in an inherited class to enable the light. A locally placed <enable> has a higher priority than the global one so specific lights can be turned on while the others are all off, and vice versa.

<duration> and <interval> specify the time to flash and dim in seconds, respectively. That is, the phase is determined as the sum of them: duration + interval.

<color> is optional. It specifies the color of light. If it is not given, the original color of the <light> element in the model will be used.

<block> is optional. It specifies a single phase. By adding multiple <block> elements, the light can generate a specific sequence of light patterns with different colors. It must have <duration> and <interval>. It can have <color> to specify the color of light. If <color> is not given, it will be set to the same color as that of the previous block. The first two elements are in the same format described above. <color> has three values representing RGB values.

Example (single color):

/// <enable>true</enable>
/// <light>
///  <id>link1/light_source</id>
///  <duration>0.1</duration>
///  <interval>0.4</interval>
///  <enable>true</enable>
/// </light>
/// <light>
///  <id>link1/light_source2</id>
///  <duration>0.8</duration>
///  <interval>0.2</interval>
///  <enable>false</enable>
/// </light>
/// ...
///

Example (multiple colors by <block> elements):

/// <enable>true</enable>
///
/// <light>
///   <id>link1/light_source</id>
///   <block>
///     <duration>0.6</duration>
///     <interval>0</interval>
///     <color>1 0 0</color>
///   </block>
///   <block>
///     <duration>0.2</duration>
///     <interval>0.5</interval>
///     <color>0 1 0</color>
///   </block>
///   <enable>true</enable>
/// </light>
///
/// ...
///

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ FlashLightPlugin()

FlashLightPlugin ( )

Constructor.

◆ ~FlashLightPlugin()

virtual ~FlashLightPlugin ( )

virtual

Destructor.

Member Function Documentation

◆ ChangeColor() [1/2]

virtual bool 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.

◆ ChangeColor() [2/2]

virtual bool 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.

◆ ChangeDuration() [1/2]

virtual bool 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.

◆ ChangeDuration() [2/2]

virtual bool 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.

◆ ChangeInterval() [1/2]

virtual bool 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.

◆ ChangeInterval() [2/2]

virtual bool 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.

◆ Create()

static TPtr Create	(	const std::string &	_filename,
		const std::string &	_name
	)

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns: Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

◆ CreateSetting()

virtual std::shared_ptr<FlashLightSetting> CreateSetting	(	const sdf::ElementPtr &	_sdf,
		const physics::ModelPtr &	_model,
		const common::Time &	_currentTime
	)

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 LedPlugin.

◆ GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

◆ GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

◆ GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns: type of the plugin

References PluginT< T >::type.

◆ Init()

virtual void Init ( )

inlinevirtualinherited

Override this method for custom plugin initialization behavior.

Reimplemented in KeysToCmdVelPlugin, BuoyancyPlugin, HarnessPlugin, FollowerPlugin, PlaneDemoPlugin, MudPlugin, CartDemoPlugin, VehiclePlugin, GimbalSmall2dPlugin, LinearBatteryPlugin, DiffDrivePlugin, and SphereAtlasDemoPlugin.

◆ InitSettingBySpecificData()

virtual void 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 LedPlugin.

◆ Load()

void Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

overridevirtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_model	Pointer to the Model
[in]	_sdf	Pointer to the SDF element of the plugin.

Implements ModelPlugin.

◆ LoadParam() [1/2]

void LoadParam	(	const sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		V &	_target,
		V	_defaultValue = `V()`
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

References gzmsg, and PluginT< T >::handleName.

◆ LoadParam() [2/2]

void LoadParam	(	sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		std::string &	_target,
		const char *	_defaultValue
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

◆ OnUpdate()

virtual void OnUpdate ( )

protectedvirtual

Called by the world update start event.

◆ Reset()

virtual void Reset ( )

inlinevirtualinherited

Override this method for custom plugin reset behavior.

Reimplemented in KeysToCmdVelPlugin, RandomVelocityPlugin, ElevatorPlugin, FollowerPlugin, LinearBatteryPlugin, ActorPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.

◆ TurnOff() [1/2]

virtual bool 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.

◆ TurnOff() [2/2]

virtual bool 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.

◆ TurnOffAll()

virtual bool TurnOffAll ( )

finalprotectedvirtual

Turn off all flash lights.

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

◆ TurnOn() [1/2]

virtual bool 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.

◆ TurnOn() [2/2]

virtual bool 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.

◆ TurnOnAll()

virtual bool TurnOnAll ( )

finalprotectedvirtual

Turn on all flash lights.

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

Member Data Documentation

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ type

PluginType type

protectedinherited

Type of plugin.

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

FlashLightPlugin.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

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]

◆ Create()

◆ CreateSetting()

◆ GetFilename()

◆ GetHandle()

◆ GetType()

◆ Init()

◆ InitSettingBySpecificData()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ OnUpdate()

◆ Reset()

◆ TurnOff() [1/2]

◆ TurnOff() [2/2]

◆ TurnOffAll()

◆ TurnOn() [1/2]

◆ TurnOn() [2/2]

◆ TurnOnAll()

Member Data Documentation

◆ filename

◆ handleName

◆ type