137 lines
3.5 KiB
C++
137 lines
3.5 KiB
C++
/*
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* Copyright (C) 2019 AIRC 01
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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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/* Desc: Base class for distributed gazebo
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* Author: Zhang Shuai
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* Date: 28 March 2019
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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// #include <tbb/parallel_for.h>
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// #include <tbb/blocked_range.h>
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// #include <float.h>
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// #include <boost/bind.hpp>
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// #include <boost/function.hpp>
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// #include <boost/thread/recursive_mutex.hpp>
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// #include <sstream>
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// #include "gazebo/util/OpenAL.hh"
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// #include "gazebo/common/KeyFrame.hh"
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// #include "gazebo/common/Animation.hh"
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// #include "gazebo/common/Plugin.hh"
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// #include "gazebo/common/Events.hh"
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// #include "gazebo/common/Exception.hh"
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// #include "gazebo/common/Console.hh"
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// #include "gazebo/common/CommonTypes.hh"
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// #include "gazebo/physics/Gripper.hh"
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// #include "gazebo/physics/Joint.hh"
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// #include "gazebo/physics/JointController.hh"
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// #include "gazebo/physics/Link.hh"
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// #include "gazebo/physics/World.hh"
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// #include "gazebo/physics/PhysicsEngine.hh"
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// #include "gazebo/physics/Model.hh"
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// #include "gazebo/physics/Contact.hh"
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// #include "gazebo/transport/Node.hh"
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#include "gazebo/physics/GazeboID.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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GazeboID::GazeboID()
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{
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}
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//////////////////////////////////////////////////
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GazeboID::~GazeboID()
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{
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this->Fini();
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}
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//////////////////////////////////////////////////
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void GazeboID::Load(sdf::ElementPtr _sdf)
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{
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if (_sdf)
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this->sdf = _sdf;
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if (this->sdf->HasAttribute("num"))
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this->gazeboID = this->sdf->Get<int>("num");
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if (this->sdf->HasAttribute("ip"))
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this->ip = this->sdf->Get<std::string>("ip");
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// if (this->sdf->HasElement("ip"))
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// {
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// sdf::ElementPtr gazeboIdElem = this->sdf->GetElement("ip");
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// ip = gazeboIdElem->Get<std::string>();
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// }
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// if (this->sdf->HasElement("port"))
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// {
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// sdf::ElementPtr gazeboPortElem = this->sdf->GetElement("port");
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// port = gazeboPortElem->Get<int>();
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// }
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if (this->sdf->HasElement("model_name"))
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{
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sdf::ElementPtr modelNameElem = this->sdf->GetElement("model_name");
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while (modelNameElem)
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{
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modelNames.push_back(modelNameElem->Get<std::string>());
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modelNameElem = modelNameElem->GetNextElement("model_name");
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}
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}
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}
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//////////////////////////////////////////////////
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int GazeboID::GetGazeboID()
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{
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return gazeboID;
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}
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//////////////////////////////////////////////////
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std::string GazeboID::GetGazeboIp()
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{
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return ip;
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}
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//////////////////////////////////////////////////
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unsigned int GazeboID::GetModelCount()
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{
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return modelNames.size();
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}
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//////////////////////////////////////////////////
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std::string GazeboID::GetModelName(unsigned int _i)
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{
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return modelNames[_i];
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}
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//////////////////////////////////////////////////
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void GazeboID::Fini()
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{
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this->modelNames.clear();
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this->sdf.reset();
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} |