gazebo_ros_power_monitor.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef PR2_GAZEBO_PLUGINS_ROS_POWER_MONITOR_H
00031 #define PR2_GAZEBO_PLUGINS_ROS_POWER_MONITOR_H
00032 
00033 #include <map>
00034 #include <vector>
00035 #include <boost/thread/mutex.hpp>
00036 
00037 #include "physics/World.hh"
00038 #include "physics/Model.hh"
00039 #include "physics/physics.hh"
00040 #include "common/Time.hh"
00041 #include "common/Plugin.hh"
00042 
00043 #include <ros/ros.h>
00044 #include <pr2_msgs/PowerState.h>
00045 #include <pr2_gazebo_plugins/PlugCommand.h>
00046 
00047 namespace gazebo {
00048 
00049 class GazeboRosPowerMonitor : public ModelPlugin
00050 {
00051 public:
00052     GazeboRosPowerMonitor();
00053     virtual ~GazeboRosPowerMonitor();
00054 
00055 protected:
00056     // Inherited from Controller
00057     void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
00058     virtual void InitChild();
00059     virtual void UpdateChild();
00060 
00061 private:
00063     void SetPlug(const pr2_gazebo_plugins::PlugCommandConstPtr& plug_msg);
00064 
00065 private:
00066     gazebo::physics::ModelPtr parent_model_;
00067     double curr_time_;
00068     double last_time_;
00069 
00070     //ParamT<std::string>* robot_namespace_param_;
00071     //ParamT<std::string>* power_state_topic_param_;
00072     std::string robot_namespace_;
00073     std::string power_state_topic_;
00074 
00075     ros::NodeHandle* rosnode_;
00076     ros::Subscriber  plugged_in_sub_;
00077     ros::Publisher   power_state_pub_;
00078 
00080     boost::mutex lock_;
00081 
00082     pr2_msgs::PowerState power_state_;
00083 
00085     //ParamT<double>* power_state_rate_param_;
00086     double power_state_rate_;
00087 
00089 
00091     //ParamT<double>* full_capacity_param_;
00092     double full_capacity_;
00093 
00095     //ParamT<double>* charge_rate_param_;
00096 
00098     //ParamT<double>* discharge_rate_param_;
00099     double discharge_rate_;
00100 
00102     //ParamT<double>* charge_voltage_param_;
00103     double charge_voltage_;
00104 
00106     //ParamT<double>* discharge_voltage_param_;
00107     double discharge_voltage_;
00108 
00110     double charge_;
00111 
00113     double charge_rate_;
00114 
00116     double voltage_;
00117 
00118   // Pointer to the model
00119   private: physics::WorldPtr world;
00120 
00121   // Pointer to the update event connection
00122   private: event::ConnectionPtr updateConnection;
00123 
00124   // subscribe to world stats
00125   private: transport::NodePtr node;
00126   private: transport::SubscriberPtr statsSub;
00127   private: common::Time simTime;
00128 
00129 };
00130 
00131 }
00132 
00133 #endif


pr2_gazebo_plugins
Author(s): Sachin Chitta, Stu Glaser, John Hsu
autogenerated on Thu Apr 24 2014 15:47:43