gazebo_ros_power_monitor.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef PR2_GAZEBO_PLUGINS_ROS_POWER_MONITOR_H
#define PR2_GAZEBO_PLUGINS_ROS_POWER_MONITOR_H

#include <map>
#include <vector>
#include <boost/thread/mutex.hpp>

#include <gazebo/physics/World.hh>
#include <gazebo/physics/Model.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/common/Plugin.hh>

#include <ros/ros.h>
#include <ros/advertise_options.h>
#include <ros/callback_queue.h>
#include <pr2_msgs/PowerState.h>
#include <pr2_gazebo_plugins/PlugCommand.h>

namespace gazebo {

class GazeboRosPowerMonitor : public ModelPlugin
{
public:
    GazeboRosPowerMonitor();
    virtual ~GazeboRosPowerMonitor();

protected:
    // Inherited from Controller
    void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
    virtual void UpdateChild();

private:
    virtual void LoadThread();
    virtual void ConnectCb();
    virtual void DisconnectCb();
    virtual void QueueThread();
    void SetPlug(const pr2_gazebo_plugins::PlugCommandConstPtr& plug_msg);

private:
    // parameters
    std::string robot_namespace_;
    std::string power_state_topic_;
    double power_state_rate_;
    double full_capacity_;
    double discharge_rate_;
    double charge_rate_;
    double discharge_voltage_;
    double charge_voltage_;

    // ros
    ros::NodeHandle* rosnode_;
    ros::Publisher   power_state_pub_;
    ros::Subscriber  plugged_in_sub_;
    boost::thread deferred_load_thread_;
    boost::thread callback_queue_thread_;
    ros::CallbackQueue queue_;
    int connect_count_;

    // gazebo
    event::ConnectionPtr update_connection_;
    physics::WorldPtr world_;
    sdf::ElementPtr sdf_;

    // internal variables
    double last_time_;
    double charge_;
    double voltage_;
    pr2_msgs::PowerState power_state_;
    boost::mutex lock_;
};

}

#endif