74 lines
2.4 KiB
C++
74 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2012 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/gazebo_core.hh"
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#include "gazebo/physics/physics.hh"
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namespace gazebo
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{
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class ProjectorPlugin : public ModelPlugin
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{
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public: ProjectorPlugin():state(true) {}
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public: ~ProjectorPlugin() {}
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//////////////////////////////////////////////////
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public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
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{
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// Create a new transport node
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this->node.reset(new transport::Node());
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// Initialize the node with the world name
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this->node->Init(_parent->GetWorld()->GetName());
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std::string name = std::string("~/") + _parent->GetName() + "/" +
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_sdf->Get<std::string>("projector");
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// Create a publisher on the ~/physics topic
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this->projectorPub = node->Advertise<msgs::Projector>(name);
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this->prevTime = common::Time::GetWallTime();
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// Listen to the update event. This event is broadcast every
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// simulation iteration.
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this->updateConnection = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&ProjectorPlugin::OnUpdate, this));
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}
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//////////////////////////////////////////////////
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public: void OnUpdate()
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{
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if (common::Time::GetWallTime() - this->prevTime > common::Time(2, 0))
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{
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this->state = !this->state;
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msgs::Projector msg;
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msg.set_name("texture_projector");
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msg.set_enabled(this->state);
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this->projectorPub->Publish(msg);
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this->prevTime = common::Time::GetWallTime();
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}
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}
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private: transport::NodePtr node;
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private: transport::PublisherPtr projectorPub;
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private: common::Time prevTime;
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private: event::ConnectionPtr updateConnection;
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private: bool state;
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};
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// Register this plugin with the simulator
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GZ_REGISTER_MODEL_PLUGIN(ProjectorPlugin)
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}
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