pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/sensors/WirelessTransceiver.cc

/*
 * Copyright (C) 2012 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.
 *
*/
#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
  #include <Winsock2.h>
#endif

#include <boost/algorithm/string.hpp>
#include <sstream>
#include "gazebo/msgs/msgs.hh"
#include "gazebo/sensors/SensorFactory.hh"
#include "gazebo/sensors/SensorManager.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/Node.hh"
#include "gazebo/transport/Publisher.hh"

#include "gazebo/sensors/WirelessTransceiver.hh"

using namespace gazebo;
using namespace sensors;

/////////////////////////////////////////////////
WirelessTransceiver::WirelessTransceiver()
  : Sensor(sensors::OTHER)
{
  this->active = false;
}

/////////////////////////////////////////////////
WirelessTransceiver::~WirelessTransceiver()
{
}

//////////////////////////////////////////////////
std::string WirelessTransceiver::Topic() const
{
  std::string topicName = "~/";
  topicName += this->ParentName() + "/" + this->Name() + "/transceiver";
  boost::replace_all(topicName, "::", "/");

  return topicName;
}

//////////////////////////////////////////////////
void WirelessTransceiver::Load(const std::string &_worldName)
{
  Sensor::Load(_worldName);

  this->parentEntity = boost::dynamic_pointer_cast<physics::Link>(
    this->world->GetEntity(this->ParentName()));

  GZ_ASSERT(this->parentEntity.lock() != NULL, "parentEntity is NULL");

  this->referencePose = this->pose +
    this->parentEntity.lock()->GetWorldPose().Ign();

  if (!this->sdf->HasElement("transceiver"))
  {
    gzthrow("Transceiver sensor is missing <transceiver> SDF element");
  }

  sdf::ElementPtr transceiverElem =
    this->sdf->GetElement("transceiver");
  this->gain = transceiverElem->Get<double>("gain");
  this->power = transceiverElem->Get<double>("power");

  if (this->gain < 0)
  {
    gzerr << "Attempting to set a negative gain of [" <<
        this->gain << "]. Using a value of 1.\n";
    this->gain = 1;
  }

  if (this->power < 0)
  {
    gzerr << "Attempting to set a negative transceiver power of[" <<
        this->power << "]. Using a value of 1.\n";
    this->power = 1;
  }
}

//////////////////////////////////////////////////
void WirelessTransceiver::Init()
{
  Sensor::Init();
}

/////////////////////////////////////////////////
void WirelessTransceiver::Fini()
{
  this->pub.reset();
  this->parentEntity.lock().reset();
  Sensor::Fini();
}

/////////////////////////////////////////////////
double WirelessTransceiver::GetPower() const
{
  return this->Power();
}

/////////////////////////////////////////////////
double WirelessTransceiver::Power() const
{
  return this->power;
}

/////////////////////////////////////////////////
double WirelessTransceiver::GetGain() const
{
  return this->Gain();
}

/////////////////////////////////////////////////
double WirelessTransceiver::Gain() const
{
  return this->gain;
}