HydraPlugin.hh

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/*
 * Copyright (C) 2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef GAZEBO_PLUGINS_HYDRAPLUGIN_HH_
#define GAZEBO_PLUGINS_HYDRAPLUGIN_HH_

#include <mutex>
#include <thread>

#include <ignition/math/Filter.hh>
#include <ignition/math/Quaternion.hh>
#include <ignition/math/Vector3.hh>
#include <gazebo/common/Plugin.hh>

namespace gazebo
{
  class GZ_PLUGIN_VISIBLE RazerHydra : public WorldPlugin
  {
    public: RazerHydra();

    public: virtual ~RazerHydra();

    // Documentation Inherited.
    public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);

    private: bool Poll(float _lowPassCornerHz = 5.0);

    private: void Run();

    private: void Update();

    private: int16_t rawPos[6];

    private: int16_t rawQuat[8];

    private: uint8_t rawButtons[2];

    private: double rawAnalog[6];

    private: int hidrawFd;

    private: ignition::math::Vector3d pos[2];

    private: ignition::math::Quaterniond quat[2];

    private: ignition::math::OnePoleVector3 filterPos[2];

    private: ignition::math::OnePoleQuaternion filterQuat[2];

    private: float analog[6];

    private: uint8_t buttons[14];

    private: ignition::math::OnePole<float> periodEstimate;

    private: common::Time lastCycleStart;

    // Pointer to the update event connection
    private: event::ConnectionPtr updateConnection;

    private: std::mutex mutex;

    private: std::thread *pollThread;

    private: bool stop;

    private: transport::NodePtr node;

    private: transport::PublisherPtr pub;
  };
}
#endif