CessnaPlugin.hh

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/*
 * Copyright (C) 2015 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_CESSNAPLUGIN_HH_
#define GAZEBO_PLUGINS_CESSNAPLUGIN_HH_

#include <array>
#include <mutex>
#include <string>
#include <sdf/sdf.hh>
#include <ignition/transport/Node.hh>
#include <gazebo/common/PID.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/physics/PhysicsTypes.hh>
#include <gazebo/transport/TransportTypes.hh>

namespace gazebo
{
  class GAZEBO_VISIBLE CessnaPlugin : public ModelPlugin
  {
    public: CessnaPlugin();

    public: ~CessnaPlugin();

    // Documentation Inherited.
    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    private: bool FindJoint(const std::string &_sdfParam,
        sdf::ElementPtr _sdf, physics::JointPtr &_joint);

    private: void Update(const common::UpdateInfo &_info);

    private: void OnControl(ConstCessnaPtr &_msg);

    private: void UpdatePIDs(double _dt);

    private: void PublishState();

    private: static const unsigned int kLeftAileron  = 0;
    private: static const unsigned int kLeftFlap     = 1;
    private: static const unsigned int kRightAileron = 2;
    private: static const unsigned int kRightFlap    = 3;
    private: static const unsigned int kElevators    = 4;
    private: static const unsigned int kRudder       = 5;
    private: static const unsigned int kPropeller    = 6;

    private: event::ConnectionPtr updateConnection;

    private: transport::NodePtr node;

    private: transport::SubscriberPtr controlSub;

    private: transport::PublisherPtr statePub;

    private: physics::ModelPtr model;

    private: std::array<physics::JointPtr, 7> joints;

    private: int32_t propellerMaxRpm = 2500;

    private: std::array<float, 7> cmds;

    private: common::PID propellerPID;

    private: std::array<common::PID, 6> controlSurfacesPID;

    private: gazebo::common::Time lastControllerUpdateTime;

    private: std::mutex mutex;

    // Place ignition::transport objects at the end of this file to
    // guarantee they are destructed first.

    private: ignition::transport::Node nodeIgn;

    private: ignition::transport::Node::Publisher statePubIgn;
  };
}
#endif