124 lines
3.6 KiB
C++
124 lines
3.6 KiB
C++
/*
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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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#ifndef _GAZEBO_GUI_CESSNA_PLUGIN_HH_
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#define _GAZEBO_GUI_CESSNA_PLUGIN_HH_
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#include <mutex>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/gui/GuiPlugin.hh>
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#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
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# include <gazebo/transport/transport.hh>
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# include <gazebo/gui/gui.hh>
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#endif
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namespace gazebo
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{
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/// \brief A GUI plugin that controls the Cessna model using the keyboard.
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/// If you are reading this, feel free to improve this plugin by adding
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/// graphical widgets to make the demo more interesting and fun.
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///
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/// Keyboard controls:
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/// w Increase thrust (+10 %)
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/// s Decrease thrust (-10 %)
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/// d Increase rudder angle (+1 degree)
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/// a Decrease rudder angle (-1 degree)
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/// Left-Key Left roll (+1 degree)
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/// Right-Key Right roll (+1 degree)
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/// Up-Key Pitch down (+1 degree)
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/// Down-Key Pitch up (+1 degree)
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/// 1 Preset for take-off
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/// 2 Preset for cruise
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/// 3 Preset for landing
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class GAZEBO_VISIBLE CessnaGUIPlugin : public GUIPlugin
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{
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Q_OBJECT
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/// \brief Constructor.
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public: CessnaGUIPlugin();
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/// \brief Destructor.
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public: virtual ~CessnaGUIPlugin();
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/// \brief Callback that receives a control message from
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/// the ~/cessna_c172/state topic.
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/// \param[in] _msg State msg.
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private: void OnState(ConstCessnaPtr &_msg);
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/// \brief Increase the propeller RPMs.
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private slots: void OnIncreaseThrust();
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/// \brief Decrease the propeller RPMs.
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private slots: void OnDecreaseThrust();
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/// \brief Increase the flaps angle.
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private slots: void OnIncreaseFlaps();
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/// \brief Decrease the flaps angle.
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private slots: void OnDecreaseFlaps();
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/// \brief Increase Roll.
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private slots: void OnIncreaseRoll();
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/// \brief Decrease Roll.
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private slots: void OnDecreaseRoll();
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/// \brief Increase the elevators angle.
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private slots: void OnIncreaseElevators();
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/// \brief Decrease the elevators angle.
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private slots: void OnDecreaseElevators();
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/// \brief Increase the rudder angle.
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private slots: void OnIncreaseRudder();
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/// \brief Decrease the rudder angle.
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private slots: void OnDecreaseRudder();
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/// \brief Take-off preset.
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private slots: void OnPresetTakeOff();
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/// \brief Cruise preset.
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private slots: void OnPresetCruise();
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/// \brief Landing preset.
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private slots: void OnPresetLanding();
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/// \brief SDF for this plugin.
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private: sdf::ElementPtr sdf;
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/// \brief Pointer to a node for communication.
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private: transport::NodePtr gzNode;
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/// \brief Control publisher.
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private: transport::PublisherPtr controlPub;
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/// \brief State subscriber.
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private: transport::SubscriberPtr stateSub;
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/// \brief Angle increment/decrement each time a key is pressed;
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private: math::Angle angleStep;
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/// \brief State received from the Cessna plugin.
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private: msgs::Cessna state;
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/// \brief Protection.
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private: std::mutex mutex;
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};
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}
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#endif
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