usv_gazebo_thrust_plugin.hh

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/*
 * Copyright (C) 2017  Brian Bingham
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef USV_GAZEBO_PLUGINS_THRUST_HH
#define USV_GAZEBO_PLUGINS_THRUST_HH

#include <ros/ros.h>
#include <std_msgs/Float32.h>
#include <sensor_msgs/JointState.h>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
#include <gazebo/common/CommonTypes.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/physics/physics.hh>
#include <sdf/sdf.hh>

namespace gazebo
{
  // Foward declaration of UsvThrust class
  class UsvThrust;

  class Thruster
  {
    public: explicit Thruster(UsvThrust *_parent);

    public: void OnThrustCmd(const std_msgs::Float32::ConstPtr &_msg);

    public: void OnThrustAngle(const std_msgs::Float32::ConstPtr &_msg);

    public: double maxCmd;

    public: double maxForceFwd;

    public: double maxForceRev;

    public: double maxAngle;

    public: physics::LinkPtr link;

    public: int mappingType;

    public: std::string cmdTopic;

    public: ros::Subscriber cmdSub;

    public: bool enableAngle;

    public: std::string angleTopic;

    public: ros::Subscriber angleSub;

    public: double currCmd;

    public: double desiredAngle;

    public: common::Time lastCmdTime;

    public: common::Time lastAngleUpdateTime;

    public: physics::JointPtr propJoint;

    public: physics::JointPtr engineJoint;

    public: common::PID engineJointPID;

    protected: UsvThrust *plugin;
  };


  class UsvThrust : public ModelPlugin
  {
    public: UsvThrust() = default;

    public: virtual ~UsvThrust() = default;

    // Documentation inherited.
    public: virtual void Load(physics::ModelPtr _parent,
                              sdf::ElementPtr _sdf);

    protected: virtual void Update();

    private: double SdfParamDouble(sdf::ElementPtr _sdfPtr,
                                   const std::string &_paramName,
                                   const double _defaultVal) const;

    private: double ScaleThrustCmd(const double _cmd,
                                   const double _max_cmd,
                                   const double _max_pos,
                                   const double _max_neg) const;

    private: double Glf(const double _x,
                        const float  _A,
                        const float  _K,
                        const float  _B,
                        const float  _v,
                        const float  _C,
                        const float  _M) const;

    private: double GlfThrustCmd(const double _cmd,
                                 const double _maxPos,
                                 const double _maxNeg) const;

    private: void RotateEngine(size_t _i,
                               common::Time _stepTime);

    private: void SpinPropeller(size_t _i);

    public: std::mutex mutex;

    private: std::unique_ptr<ros::NodeHandle> rosnode;

    public: physics::WorldPtr world;

    private: physics::ModelPtr model;

    private: double cmdTimeout;

    private: std::vector<Thruster> thrusters;

    private: event::ConnectionPtr updateConnection;

    private: ros::Publisher jointStatePub;

    private: sensor_msgs::JointState jointStateMsg;
  };
}

#endif