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Merge pull request #2 from RBinsonB/feat/improvement
Feat/improvement
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,121 @@ | ||
| #include "RadioisotopeThermalGeneratorPlugin.hh" | ||
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| #include <ignition/transport/Node.hh> | ||
| #include "ignition/gazebo/Model.hh" | ||
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| #include <ignition/msgs/double.pb.h> | ||
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| #include <gz/common/Profiler.hh> | ||
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| #include <gz/plugin/Register.hh> | ||
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| using namespace simulation; | ||
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| /// \brief Private data class for RadioisotopeThermalGeneratorPlugin | ||
| class simulation::RadioisotopeThermalGeneratorPluginPrivate | ||
| { | ||
| /// \brief Name of the link | ||
| public: | ||
| std::string linkName; | ||
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| /// \brief Name of the model | ||
| public: | ||
| std::string modelName; | ||
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| /// \brief Name of the topic where the data will be published | ||
| public: | ||
| std::string topicName; | ||
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| /// \brief Power output of the radioisotope thermal generator | ||
| public: | ||
| double nominalPower; | ||
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| /// \brief Ignition communication node | ||
| public: | ||
| ignition::transport::Node node; | ||
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| /// \brief Publisher for the radioisotope thermal generator output | ||
| public: | ||
| ignition::transport::Node::Publisher nominalPowerPub; | ||
| }; | ||
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| ////////////////////////////////////////////////// | ||
| RadioisotopeThermalGeneratorPlugin::RadioisotopeThermalGeneratorPlugin() | ||
| : dataPtr(std::make_unique<RadioisotopeThermalGeneratorPluginPrivate>()) | ||
| { | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| RadioisotopeThermalGeneratorPlugin::~RadioisotopeThermalGeneratorPlugin() = default; | ||
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| ////////////////////////////////////////////////// | ||
| void RadioisotopeThermalGeneratorPlugin::Configure(const ignition::gazebo::Entity &_entity, | ||
| const std::shared_ptr<const sdf::Element> &_sdf, | ||
| ignition::gazebo::EntityComponentManager &_ecm, | ||
| ignition::gazebo::EventManager &_eventMgr) | ||
| { | ||
| // Store the pointer to the model the RTG is under | ||
| auto model = ignition::gazebo::Model(_entity); | ||
| if (!model.Valid(_ecm)) | ||
| { | ||
| ignerr << "Radioisotope Thermal Generator plugin should be attached to a model entity. " | ||
| << "Failed to initialize." << std::endl; | ||
| return; | ||
| } | ||
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| this->dataPtr->modelName = model.Name(_ecm); | ||
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| // Load params | ||
| if (_sdf->HasElement("link_name")) | ||
| { | ||
| this->dataPtr->linkName = _sdf->Get<std::string>("link_name"); | ||
| this->dataPtr->topicName = "/model/" + this->dataPtr->modelName + "/" + this->dataPtr->linkName + "/radioisotope_thermal_generator_output"; | ||
| auto validTopic = ignition::transport::TopicUtils::AsValidTopic(this->dataPtr->topicName); | ||
| if (validTopic.empty()) | ||
| { | ||
| ignerr << "Failed to create valid topic [" << this->dataPtr->topicName << "]" << std::endl; | ||
| return; | ||
| } | ||
| // Advertise topic where data will be published | ||
| this->dataPtr->nominalPowerPub = this->dataPtr->node.Advertise<ignition::msgs::Float>(validTopic); | ||
| } | ||
| else | ||
| { | ||
| ignerr << "Radioisotope Thermal Generator plugin should have a <link_name> element. " | ||
| << "Failed to initialize." << std::endl; | ||
| return; | ||
| } | ||
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| if (_sdf->HasElement("nominal_power")) | ||
| { | ||
| this->dataPtr->nominalPower = _sdf->Get<double>("nominal_power"); | ||
| } | ||
| else | ||
| { | ||
| ignerr << "Radioisotope Thermal Generator plugin should have a <nominal_power> element. " | ||
| << "Failed to initialize." << std::endl; | ||
| return; | ||
| } | ||
| } | ||
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| ////////////////////////////////////////////////// | ||
| void RadioisotopeThermalGeneratorPlugin::PostUpdate(const ignition::gazebo::UpdateInfo &_info, | ||
| const ignition::gazebo::EntityComponentManager &_ecm) | ||
| { | ||
| IGN_PROFILE("RadioisotopeThermalGeneratorPlugin::PostUpdate"); | ||
| if (_info.paused) | ||
| { | ||
| return; | ||
| } | ||
| // Publish result | ||
| ignition::msgs::Float msg; | ||
| msg.set_data(this->dataPtr->nominalPower); | ||
| this->dataPtr->nominalPowerPub.Publish(msg); | ||
| igndbg << "Published RTG output: " << this->dataPtr->nominalPower << std::endl; | ||
| } | ||
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| IGNITION_ADD_PLUGIN(RadioisotopeThermalGeneratorPlugin, ignition::gazebo::System, | ||
| RadioisotopeThermalGeneratorPlugin::ISystemConfigure, | ||
| RadioisotopeThermalGeneratorPlugin::ISystemPostUpdate) | ||
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| IGNITION_ADD_PLUGIN_ALIAS(RadioisotopeThermalGeneratorPlugin, "simulation::RadioisotopeThermalGeneratorPlugin") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| #ifndef Radioisotope_Thermal_Generator_Plugin_HH_ | ||
| #define Radioisotope_Thermal_Generator_Plugin_HH_ | ||
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| #include <memory> | ||
| #include <ignition/gazebo/System.hh> | ||
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| namespace simulation | ||
| { | ||
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| // Forward declaration | ||
| class RadioisotopeThermalGeneratorPluginPrivate; | ||
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| /// \class RadioisotopeThermalGenerator RadioisotopeThermalGenerator.hh | ||
| /// \brief Radioisotope Thermal Generator plugin. plugin allows to simulate an radioisotope thermal generator power output. It provides a constant power supply. | ||
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| /// ## System Parameters | ||
| /// | ||
| /// - `link_name`: The name of the link where the radioisotope thermal generator is attached. | ||
| /// - `nominal_power`: The nominal power output of the radioisotope thermal generator. | ||
| class RadioisotopeThermalGeneratorPlugin : public ignition::gazebo::System, | ||
| public ignition::gazebo::ISystemConfigure, | ||
| public ignition::gazebo::ISystemPostUpdate | ||
| { | ||
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| /// \brief Constructor | ||
| public: | ||
| RadioisotopeThermalGeneratorPlugin(); | ||
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| /// \brief Destructor | ||
| public: | ||
| ~RadioisotopeThermalGeneratorPlugin() override; | ||
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| /// Documentation inherited | ||
| public: | ||
| void Configure(const ignition::gazebo::Entity &_entity, | ||
| const std::shared_ptr<const sdf::Element> &_sdf, | ||
| ignition::gazebo::EntityComponentManager &_ecm, | ||
| ignition::gazebo::EventManager &_eventMgr) override; | ||
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| /// Documentation inherited | ||
| public: | ||
| void PostUpdate(const ignition::gazebo::UpdateInfo &_info, | ||
| const ignition::gazebo::EntityComponentManager &_ecm) final; | ||
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| /// \brief Private data pointer | ||
| private: | ||
| std::unique_ptr<RadioisotopeThermalGeneratorPluginPrivate> dataPtr; | ||
| }; | ||
| } | ||
| #endif // Radioisotope_Thermal_Generator_Plugin_HH_ |
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