93 lines
2.5 KiB
C++
93 lines
2.5 KiB
C++
// Copyright 1996-2024 Cyberbotics Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// https://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*
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* Description: CPP wrapper of the driver library
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* Comments: Sponsored by the CTI project RO2IVSim
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* (http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles)
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*/
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#ifndef DRIVER_HPP
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#define DRIVER_HPP
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#include <webots/Supervisor.hpp>
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namespace webots {
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class Driver : public Supervisor {
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public:
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typedef enum { INDICATOR_OFF, INDICATOR_RIGHT, INDICATOR_LEFT } IndicatorState;
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typedef enum { SPEED, TORQUE } ControlMode;
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typedef enum { DOWN, SLOW, NORMAL, FAST } WiperMode;
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// private function for webots_ros2 to identify robots that can use libdriver
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static bool isInitialisationPossible();
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Driver();
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static Driver *getDriverInstance();
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virtual ~Driver();
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virtual int step();
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// positive: turn right, negative: turn left
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void setSteeringAngle(double steeringAngle);
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double getSteeringAngle();
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void setCruisingSpeed(double speed);
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double getTargetCruisingSpeed();
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double getCurrentSpeed();
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void setThrottle(double throttle);
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double getThrottle();
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void setBrakeIntensity(double intensity);
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double getBrakeIntensity();
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void setIndicator(IndicatorState state);
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void setHazardFlashers(bool state);
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IndicatorState getIndicator();
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bool getHazardFlashers();
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void setDippedBeams(bool state);
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void setAntifogLights(bool state);
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bool getDippedBeams();
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bool getAntifogLights();
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double getRpm();
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int getGear();
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void setGear(int gear);
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int getGearNumber();
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ControlMode getControlMode();
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void setWiperMode(WiperMode mode);
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WiperMode getWiperMode();
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// kept for backward compatibility only
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void setBrake(double brake);
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void setWipersMode(WiperMode mode);
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WiperMode getWipersMode();
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private:
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virtual int step(int t) { return Supervisor::step(t); }
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static Driver *dInstance;
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};
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} // namespace webots
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#endif // DRIVER_HPP
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