mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-07 07:50:35 +08:00
Benjamin Perseghetti
92 lines
3.2 KiB
C++
92 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "GZMixingInterfaceServo.hpp"
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bool GZMixingInterfaceServo::init(const std::string &model_name)
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{
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// /model/rascal_110_0/servo_2
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for (int i = 0; i < 8; i++) {
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std::string joint_name = "servo_" + std::to_string(i);
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std::string servo_topic = "/model/" + model_name + "/" + joint_name;
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//std::cout << "Servo topic: " << servo_topic << std::endl;
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_servos_pub.push_back(_node.Advertise<gz::msgs::Double>(servo_topic));
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if (!_servos_pub.back().Valid()) {
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PX4_ERR("failed to advertise %s", servo_topic.c_str());
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return false;
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}
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}
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ScheduleNow();
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return true;
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}
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bool GZMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
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unsigned num_control_groups_updated)
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{
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bool updated = false;
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// cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
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int i = 0;
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for (auto &servo_pub : _servos_pub) {
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if (_mixing_output.isFunctionSet(i)) {
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gz::msgs::Double servo_output;
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///TODO: Normalize output data
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double output = (outputs[i] - 500) / 500.0;
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// std::cout << "outputs[" << i << "]: " << outputs[i] << std::endl;
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// std::cout << " output: " << output << std::endl;
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servo_output.set_data(output);
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if (servo_pub.Valid()) {
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servo_pub.Publish(servo_output);
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updated = true;
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}
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}
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i++;
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}
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return updated;
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}
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void GZMixingInterfaceServo::Run()
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{
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pthread_mutex_lock(&_node_mutex);
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_mixing_output.update();
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_mixing_output.updateSubscriptions(false);
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pthread_mutex_unlock(&_node_mutex);
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}
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