added motor-plugin and DroneCAN ESC telemetry script #146
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| /* | ||
| * | ||
| * 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. | ||
| * | ||
| */ | ||
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| #ifndef MOTORPLUGIN_HH_ | ||
| #define MOTORPLUGIN_HH_ | ||
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| #include <memory> | ||
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| #include <gz/sim/System.hh> | ||
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| namespace gz { | ||
| namespace sim { | ||
| inline namespace GZ_SIM_VERSION_NAMESPACE { | ||
| namespace systems { | ||
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Collaborator
There was a problem hiding this comment. Include a doc string describing the plugins purpose and SDF parameters. See for example: https://github.com/ArduPilot/ardupilot_gazebo/blob/main/include/GstCameraPlugin.hh |
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| class MotorPlugin : | ||
| public System, | ||
| public ISystemPreUpdate, | ||
| public ISystemConfigure | ||
| { | ||
| /// \brief Destructor | ||
| public: virtual ~MotorPlugin(); | ||
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| /// \brief Constructor | ||
| public: MotorPlugin(); | ||
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| // Documentation inherited | ||
| public: void PreUpdate(const gz::sim::UpdateInfo &_info, | ||
| EntityComponentManager &_ecm) final; | ||
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| // Documentation inherited | ||
| public: void Configure(const Entity &_entity, | ||
| const std::shared_ptr<const sdf::Element> &_sdf, | ||
| EntityComponentManager &_ecm, | ||
| EventManager &) final; | ||
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| /// \brief Load control channels | ||
| private: void LoadControlChannels( | ||
| sdf::ElementPtr _sdf, | ||
| gz::sim::EntityComponentManager &_ecm); | ||
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Collaborator
There was a problem hiding this comment. Can be in the private |
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| /// \internal | ||
| /// \brief Private implementation | ||
| private: class Impl; | ||
| private: std::unique_ptr<Impl> impl; | ||
| }; | ||
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| } // namespace systems | ||
| } | ||
| } // namespace sim | ||
| } // namespace gz | ||
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| #endif // MOTORPLUGIN_HH_ | ||
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| syntax = "proto3"; | ||||||
| package ardupilot_gazebo.msgs; | ||||||
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| // Message to hold the status of a single motor. | ||||||
| message MotorStats { | ||||||
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Collaborator
There was a problem hiding this comment.
Suggested change
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| // Motor Id | ||||||
| int32 motor_id = 1; | ||||||
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| // Rotational speed of the motor in revolutions per minute (RPM). | ||||||
| double rpm = 2; | ||||||
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| // Voltage supplied to the motor in Volts. | ||||||
| double voltage = 3; | ||||||
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| // Current drawn by the motor in Amperes. | ||||||
| double current = 4; | ||||||
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| // Motor Temperature in Celsius. | ||||||
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Collaborator
There was a problem hiding this comment. Temperature in Kelvin. |
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| double temperature = 5; | ||||||
| } | ||||||
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Should be LGPLv3. The original ArduPilotPlugin code was Apache, but new works should match the repo license (https://github.com/ArduPilot/ardupilot_gazebo/blob/main/LICENSE.md). See https://github.com/ArduPilot/ardupilot_gazebo/blob/main/include/SocketUDP.hh for example text to include in source files.