123 lines
3.7 KiB
C++
123 lines
3.7 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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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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* http://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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*/
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#ifndef _SERVER_HH_
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#define _SERVER_HH_
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#include <string>
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#include <list>
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#include <sdf/sdf.hh>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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class Master;
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// forward declaration of private class
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struct ServerPrivate;
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/// \class Master Master.hh gazebo_core.hh
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/// \brief Base class for simulation server that handles commandline options,
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/// starts a Master, runs World update and sensor generation loops.
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class GAZEBO_VISIBLE Server
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{
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/// \brief Constructor.
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public: Server();
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/// \brief Destructor.
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public: virtual ~Server();
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/// \brief Output help about gzserver.
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public: void PrintUsage();
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/// \brief Parse command line arguments.
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/// \param[in] _argc Number of arguments.
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/// \param[in] _argv Array of argument values.
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/// \return True on success.
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public: bool ParseArgs(int _argc, char **_argv);
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/// \brief Preload the server.
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/// \return True if load was successful.
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public: bool PreLoad();
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/// \brief Load a world file and optionally override physics engine type.
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/// \param[in] _filename Name of the world file to load.
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/// \param[in] _physics Physics engine type (ode|bullet|dart|simbody).
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/// \return True on success.
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public: bool LoadFile(const std::string &_filename="worlds/empty.world",
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const std::string &_physics="");
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/// \brief Load the Server from an SDF string.
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/// \param[in] _sdfString SDF string from which to load a World.
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/// \return True on success.
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public: bool LoadString(const std::string &_sdfString);
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/// \brief Run the Server.
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public: void Run();
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/// \brief Stop the Server.
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public: void Stop();
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/// \brief Finalize the Server.
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public: void Fini();
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/// \brief Set the parameters.
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/// \param[in] _params Map of string parameters
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public: void SetParams(const common::StrStr_M &_params);
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/// \brief Get whether the Server has been initialized.
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/// \return True if initialized.
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public: bool GetInitialized() const;
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/// \brief Load implementation.
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/// \param[in] _elem Description of the world to load.
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/// \param[in] _physics Physics engine type (ode|bullet|dart|simbody).
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private: bool LoadImpl(sdf::ElementPtr _elem,
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const std::string &_physics="");
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/// \brief SIGINT handler
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/// \param[in] _v Unused.
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private: static void SigInt(int _v);
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/// \brief Process all command line parameters.
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private: void ProcessParams();
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/// \brief Receive a control message, and push it onto a queue.
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/// \param[in] _msg Message that is received.
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private: void OnControl(ConstServerControlPtr &_msg);
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/// \brief Open a new world.
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/// \param[in] _filename Name and path of the world to open.
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/// \return True on success.
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private: bool OpenWorld(const std::string &_filename);
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/// \brief Handle all control messages.
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private: void ProcessControlMsgs();
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<ServerPrivate> dataPtr;
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};
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}
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#endif
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