67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/common/Assert.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/common/Battery.hh"
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#include "LinearBatteryConsumerPlugin.hh"
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using namespace gazebo;
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GZ_REGISTER_MODEL_PLUGIN(LinearBatteryConsumerPlugin)
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/////////////////////////////////////////////////
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LinearBatteryConsumerPlugin::LinearBatteryConsumerPlugin() : consumerId(-1)
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{
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}
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/////////////////////////////////////////////////
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LinearBatteryConsumerPlugin::~LinearBatteryConsumerPlugin()
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{
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if (this->battery && this->consumerId != -1)
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this->battery->RemoveConsumer(this->consumerId);
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}
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/////////////////////////////////////////////////
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void LinearBatteryConsumerPlugin::Load(physics::ModelPtr _parent,
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sdf::ElementPtr _sdf)
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{
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sdf::ElementPtr elem = _sdf->GetElement("link_name");
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GZ_ASSERT(elem, "Element link_name doesn't exist!");
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physics::LinkPtr link = _parent->GetLink(elem->Get<std::string>());
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GZ_ASSERT(link, "Link was NULL");
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elem = _sdf->GetElement("battery_name");
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GZ_ASSERT(elem, "Element battery_name doesn't exist!");
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this->battery = link->Battery(elem->Get<std::string>());
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GZ_ASSERT(this->battery, "Battery was NULL");
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if (_sdf->HasElement("power_load"))
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{
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double powerLoad = _sdf->Get<double>("power_load");
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this->consumerId = this->battery->AddConsumer();
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bool success = this->battery->SetPowerLoad(this->consumerId, powerLoad);
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if (!success)
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gzerr << "Failed to set consumer power load." << std::endl;
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}
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else
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{
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gzwarn << "Required attribute power_load missing "
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<< "in LinearBatteryConsumerPlugin SDF" << std::endl;
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}
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}
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