PX4-Autopilot/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp

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#include "GZMixingInterfaceServo.hpp"

#include <gz/msgs/double.pb.h>


float
GZMixingInterfaceServo::get_servo_angle_max(const size_t index)
{
	float angle;

	switch (index) {
	case 0: {angle = _servo_max_angle_1.get(); break;}

	case 1: {angle = _servo_max_angle_2.get(); break;}

	case 2: {angle = _servo_max_angle_3.get(); break;}

	case 3: {angle = _servo_max_angle_4.get(); break;}

	case 4: {angle = _servo_max_angle_5.get(); break;}

	case 5: {angle = _servo_max_angle_6.get(); break;}

	case 6: {angle = _servo_max_angle_7.get(); break;}

	case 7: {angle = _servo_max_angle_8.get(); break;}

	default: {angle = NAN; break;}
	}

	if (!PX4_ISFINITE(angle)) {
		PX4_ERR("max_angle: index out of range, i= %ld, expected i < 8", index);
		return NAN;
	}

	return math::radians(angle);
}

float
GZMixingInterfaceServo::get_servo_angle_min(const size_t index)
{
	float angle;

	switch (index) {
	case 0: {angle = _servo_min_angle_1.get(); break;}

	case 1: {angle = _servo_min_angle_2.get(); break;}

	case 2: {angle = _servo_min_angle_3.get(); break;}

	case 3: {angle = _servo_min_angle_4.get(); break;}

	case 4: {angle = _servo_min_angle_5.get(); break;}

	case 5: {angle = _servo_min_angle_6.get(); break;}

	case 6: {angle = _servo_min_angle_7.get(); break;}

	case 7: {angle = _servo_min_angle_8.get(); break;}

	default: {angle = NAN; break;}

	}

	if (!PX4_ISFINITE(angle)) {
		PX4_ERR("min_angle: index out of range, i= %ld, expected i < 8", index);
		return NAN;
	}

	return math::radians(angle);
}

bool GZMixingInterfaceServo::init(const std::string &model_name)
{
	// /model/rascal_110_0/servo_2
	for (int i = 0; i < 8; i++) {
		std::string joint_name = "servo_" + std::to_string(i);
		std::string servo_topic = "/model/" + model_name + "/" + joint_name;
		//std::cout << "Servo topic: " << servo_topic << std::endl;
		_servos_pub.push_back(_node.Advertise<gz::msgs::Double>(servo_topic));

		if (!_servos_pub.back().Valid()) {
			PX4_ERR("failed to advertise %s", servo_topic.c_str());
			return false;
		}

		double min_val = (double)get_servo_angle_min(i);
		double max_val = (double)get_servo_angle_max(i);
		_angle_min_rad.push_back(min_val);
		_angular_range_rad.push_back(max_val - min_val);
	}

	pthread_mutex_init(&_node_mutex, nullptr);

	ScheduleNow();

	return true;
}

bool GZMixingInterfaceServo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
		unsigned num_control_groups_updated)
{
	bool updated = false;
	// cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]

	int i = 0;

	for (auto &servo_pub : _servos_pub) {
		if (_mixing_output.isFunctionSet(i)) {
			gz::msgs::Double servo_output;

			double output_range = _mixing_output.maxValue(i) - _mixing_output.minValue(i);
			double output = _angle_min_rad[i] + _angular_range_rad[i] * (outputs[i] - _mixing_output.minValue(i)) / output_range;
			// std::cout << "outputs[" << i << "]: " << outputs[i] << std::endl;
			// std::cout << "  output: " << output << std::endl;
			servo_output.set_data(output);

			if (servo_pub.Valid()) {
				servo_pub.Publish(servo_output);
				updated = true;
			}
		}

		i++;
	}

	return updated;
}

void GZMixingInterfaceServo::Run()
{
	pthread_mutex_lock(&_node_mutex);
	_mixing_output.update();
	_mixing_output.updateSubscriptions(false);
	pthread_mutex_unlock(&_node_mutex);
}