quadrotor_propulsion.h

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//=================================================================================================
// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * 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 Flight Systems and Automatic Control group,
//       TU Darmstadt, 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 IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef HECTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H
#define HECTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H

#include <gazebo/common/Plugin.hh>

#include <ros/callback_queue.h>
#include <ros/ros.h>

#include <hector_uav_msgs/Supply.h>
#include <hector_uav_msgs/MotorStatus.h>
#include <hector_uav_msgs/MotorPWM.h>
#include <geometry_msgs/Wrench.h>

#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/condition.hpp>
#include <queue>

#include <hector_gazebo_plugins/update_timer.h>

namespace gazebo
{

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

protected:
  virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
  virtual void Reset();
  virtual void Update();

private:
  physics::WorldPtr world;

  physics::LinkPtr link;

  ros::NodeHandle* node_handle_;
  ros::CallbackQueue callback_queue_;
  boost::thread callback_queue_thread_;
  void QueueThread();

  ros::Publisher trigger_publisher_;
  ros::Subscriber voltage_subscriber_;
  ros::Publisher wrench_publisher_;
  ros::Publisher supply_publisher_;
  ros::Publisher motor_status_publisher_;

  hector_uav_msgs::MotorPWMConstPtr motor_voltage_;
  std::queue<hector_uav_msgs::MotorPWMConstPtr> new_motor_voltages_;
  geometry_msgs::Wrench wrench_;
  hector_uav_msgs::Supply supply_;
  hector_uav_msgs::MotorStatus motor_status_;
  void CommandCallback(const hector_uav_msgs::MotorPWMConstPtr&);

  math::Vector3 velocity, rate;

  std::string body_name_;
  std::string namespace_;
  std::string param_namespace_;
  std::string trigger_topic_;
  std::string voltage_topic_;
  std::string wrench_topic_;
  std::string supply_topic_;
  std::string status_topic_;
  common::Time control_delay_;
  common::Time control_tolerance_;

  class PropulsionModel;
  PropulsionModel *propulsion_model_;

  common::Time last_time_;
  common::Time last_trigger_time_;
  common::Time last_control_time_;
  common::Time last_motor_status_time_;

  boost::condition command_condition_;
  boost::mutex command_mutex_;

  // Pointer to the update event connection
  event::ConnectionPtr updateConnection;

  UpdateTimer controlTimer;
};

}

#endif // HECTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H