67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
/*
|
|
* 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.
|
|
*
|
|
*/
|
|
|
|
#include "gazebo/common/Assert.hh"
|
|
#include "gazebo/physics/physics.hh"
|
|
#include "gazebo/common/Battery.hh"
|
|
#include "LinearBatteryConsumerPlugin.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
GZ_REGISTER_MODEL_PLUGIN(LinearBatteryConsumerPlugin)
|
|
|
|
/////////////////////////////////////////////////
|
|
LinearBatteryConsumerPlugin::LinearBatteryConsumerPlugin() : consumerId(-1)
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
LinearBatteryConsumerPlugin::~LinearBatteryConsumerPlugin()
|
|
{
|
|
if (this->battery && this->consumerId != -1)
|
|
this->battery->RemoveConsumer(this->consumerId);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void LinearBatteryConsumerPlugin::Load(physics::ModelPtr _parent,
|
|
sdf::ElementPtr _sdf)
|
|
{
|
|
sdf::ElementPtr elem = _sdf->GetElement("link_name");
|
|
GZ_ASSERT(elem, "Element link_name doesn't exist!");
|
|
physics::LinkPtr link = _parent->GetLink(elem->Get<std::string>());
|
|
GZ_ASSERT(link, "Link was NULL");
|
|
|
|
elem = _sdf->GetElement("battery_name");
|
|
GZ_ASSERT(elem, "Element battery_name doesn't exist!");
|
|
this->battery = link->Battery(elem->Get<std::string>());
|
|
GZ_ASSERT(this->battery, "Battery was NULL");
|
|
|
|
if (_sdf->HasElement("power_load"))
|
|
{
|
|
double powerLoad = _sdf->Get<double>("power_load");
|
|
this->consumerId = this->battery->AddConsumer();
|
|
bool success = this->battery->SetPowerLoad(this->consumerId, powerLoad);
|
|
if (!success)
|
|
gzerr << "Failed to set consumer power load." << std::endl;
|
|
}
|
|
else
|
|
{
|
|
gzwarn << "Required attribute power_load missing "
|
|
<< "in LinearBatteryConsumerPlugin SDF" << std::endl;
|
|
}
|
|
}
|