308 lines
8.7 KiB
C++
308 lines
8.7 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_ELEVATOR_PLUGIN_PRIVATE_HH_
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#define _GAZEBO_ELEVATOR_PLUGIN_PRIVATE_HH_
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#include <list>
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#include <mutex>
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#include <string>
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#include <sdf/sdf.hh>
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#include <gazebo/transport/Node.hh>
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#include <gazebo/transport/Subscriber.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/common/PID.hh>
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#include <gazebo/common/Timer.hh>
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namespace gazebo
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{
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/// \internal
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/// \brief Private data for the ElevatorPlugin
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class ElevatorPluginPrivate
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{
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/// \brief Constructor
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public: ElevatorPluginPrivate() = default;
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/// \brief Destructor
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public: virtual ~ElevatorPluginPrivate();
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/// \brief Controller for opening and closing the elevator door.
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public: class DoorController
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{
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/// \enum Target
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/// \brief Door targets.
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public: enum Target {
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/// \brief Open the door
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OPEN,
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/// \brief Close the door
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CLOSE
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};
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/// \enum State
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/// \brief Door motion states
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public: enum State {
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/// \brief The door is moving
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MOVING,
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/// \brief The door is stationary
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STATIONARY
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};
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/// \brief Constructor
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/// \param[in] _doorJoint Pointer to the joint that should be
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/// controlled.
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public: DoorController(physics::JointPtr _doorJoint);
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/// \brief Destructor
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public: virtual ~DoorController() = default;
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/// \brief Set the target for the door (OPEN or CLOSE).
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/// \param[in] _target The target for the door.
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public: void SetTarget(
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ElevatorPluginPrivate::DoorController::Target _target);
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/// \brief Get the current state.
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/// \return Current state.
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public: ElevatorPluginPrivate::DoorController::State GetState() const;
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/// \brief Get the current target.
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/// \return Current target.
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public: ElevatorPluginPrivate::DoorController::Target GetTarget() const;
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/// \brief Reset the controller
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public: void Reset();
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/// \brief Update the controller.
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/// \param[in] _info Update information provided by the server.
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/// \return True if the target has been reached.
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public: virtual bool Update(const common::UpdateInfo &_info);
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/// \brief Pointer to the door joint.
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public: physics::JointPtr doorJoint;
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/// \brief Current door state
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public: State state;
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/// \brief Current door target
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public: Target target;
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/// \brief PID controller for the door.
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public: common::PID doorPID;
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/// \brief Previous simulation time.
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public: common::Time prevSimTime;
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};
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/// \brief Controller for raising and lowering the elevator.
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public: class LiftController
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{
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/// \enum State
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/// \brief Lift state
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public: enum State {
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/// \brief The lift is moving
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MOVING,
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/// \brief The lift is stationary
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STATIONARY
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};
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/// \brief Constructor
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/// \param[in] _liftJoint Pointer to the joint that should be
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/// controlled.
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/// \param[in] _floorHeight Height of each floor.
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public: LiftController(physics::JointPtr _liftJoint,
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float _floorHeight);
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/// \brief Destructor
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public: virtual ~LiftController() = default;
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/// \brief Set the current floor to move to.
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/// \param[in] _floor Floor number.
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public: void SetFloor(int _floor);
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/// \brief Get the current floor.
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/// \return Floor number
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public: int GetFloor() const;
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/// \brief Get the current state.
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/// \return Current lift state.
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public: ElevatorPluginPrivate::LiftController::State GetState() const;
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/// \brief Reset the controller
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public: void Reset();
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/// \brief Update the controller.
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/// \param[in] _info Update information provided by the server.
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/// \return True if the target has been reached.
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public: virtual bool Update(const common::UpdateInfo &_info);
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/// \brief State of the controller.
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public: State state;
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/// \brief Floor the elevator is on or moving to.
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public: int floor;
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/// \brief Height of each floor.
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public: float floorHeight;
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/// \brief Joint to control
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public: physics::JointPtr liftJoint;
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/// \brief PID controller.
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public: common::PID liftPID;
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/// \brief Previous simulation time.
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public: common::Time prevSimTime;
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};
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/// \brief State base class
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public: class State
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{
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/// \brief Constructor
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public: State() : started(false) {}
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/// \brief Destructor
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public: virtual ~State() = default;
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/// \brief State name
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public: std::string name;
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/// \brief Used to start a state.
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public: virtual void Start() {}
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/// \brief Used to update a state.
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public: virtual bool Update() {return true;}
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/// \brief True when started.
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protected: bool started;
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};
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/// \brief State used to close the elevator door.
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public: class CloseState : public State
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{
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/// \brief Constructor.
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/// \param[in] _ctrl Elevator door controller
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public: CloseState(ElevatorPluginPrivate::DoorController *_ctrl);
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// Documentation inherited
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public: virtual void Start();
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// Documentation inherited
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public: virtual bool Update();
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/// \brief Pointer to the door controller.
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public: ElevatorPluginPrivate::DoorController *ctrl;
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};
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/// \brief State used to open the elevator door.
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public: class OpenState : public State
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{
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/// \brief Constructor.
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/// \param[in] _ctrl Elevator door controller
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public: OpenState(ElevatorPluginPrivate::DoorController *_ctrl);
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// Documentation inherited
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public: virtual void Start();
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// Documentation inherited
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public: virtual bool Update();
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/// \brief Pointer to the door controller.
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public: ElevatorPluginPrivate::DoorController *ctrl;
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};
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/// \brief State used to move the elevator to a floor.
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public: class MoveState : public State
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{
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/// \brief Constructor
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/// \param[in] _floor Floor index to move to.
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/// \param[in] _ctrl Lift controller pointer.
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public: MoveState(int _floor, LiftController *_ctrl);
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// Documentation inherited
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public: virtual void Start();
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// Documentation inherited
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public: virtual bool Update();
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/// \brief Target floor number.
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public: int floor;
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/// \brief Lift controller.
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public: LiftController *ctrl;
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};
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/// \brief State used to make the elevator wait.
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public: class WaitState : public State
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{
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/// \brief Constructor
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/// \param[in] _waitTime Length of the wait state
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public: WaitState(const common::Time &_waitTime);
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// Documentation inherited
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public: virtual void Start();
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// Documentation inherited
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public: virtual bool Update();
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/// \brief Timer to hold the door open.
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public: common::Timer waitTimer;
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};
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/// \brief Pointer to the elevator model.
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public: physics::ModelPtr model;
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/// \brief Pointer to the joint that lifts the elevator
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public: physics::JointPtr liftJoint;
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/// \brief Pointer to the joint that opens the door
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public: physics::JointPtr doorJoint;
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/// \brief SDF pointer.
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public: sdf::ElementPtr sdf;
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/// \brief Pointer to the update event connection
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public: event::ConnectionPtr updateConnection;
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/// \brief Node for communication
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public: transport::NodePtr node;
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/// \brief Used to subscribe to command message. This will call the
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/// OnElevator function when a message arrives.
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public: transport::SubscriberPtr elevatorSub;
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/// \brief Door controller.
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public: DoorController *doorController;
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/// \brief Lift controller.
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public: LiftController *liftController;
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/// \brief List of states that should be executed.
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public: std::list<State *> states;
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/// \brief Mutex to protect states.
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public: std::mutex stateMutex;
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/// \brief Time to hold the door in the open state.
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public: common::Time doorWaitTime;
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};
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}
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#endif
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