107 lines
3.2 KiB
C++
107 lines
3.2 KiB
C++
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/*
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* Copyright (C) 2015 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 _GAZEBO_USER_CMD_MANAGER_HH_
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#define _GAZEBO_USER_CMD_MANAGER_HH_
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#include <string>
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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namespace gazebo
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{
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namespace physics
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{
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class UserCmdPrivate;
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/// \brief Class which represents a user command, which can be "undone"
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/// and "redone".
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class GAZEBO_VISIBLE UserCmd
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{
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/// \brief Constructor
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/// \param[in] _id Unique ID for this command
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/// \param[in] _world Pointer to the world
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/// \param[in] _description Description for the command, such as
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/// "Rotate box", "Delete sphere", etc.
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/// \param[in] _type Type of command, such as MOVING, DELETING, etc.
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public: UserCmd(const unsigned int _id,
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physics::WorldPtr _world,
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const std::string &_description,
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const msgs::UserCmd::Type &_type);
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/// \brief Destructor
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public: virtual ~UserCmd();
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/// \brief Undo this command.
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public: virtual void Undo();
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/// \brief Redo this command.
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public: virtual void Redo();
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/// \brief Return this command's unique ID.
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/// \return Unique ID
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public: unsigned int Id() const;
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/// \brief Return this command's description.
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/// \return Description
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public: std::string Description() const;
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/// \brief Return this command's type.
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/// \return Command type
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public: msgs::UserCmd::Type Type() const;
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/// \internal
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/// \brief Pointer to private data.
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protected: UserCmdPrivate *dataPtr;
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};
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class UserCmdManagerPrivate;
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/// \brief Manages user commands from the server side.
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class GAZEBO_VISIBLE UserCmdManager
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{
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/// \brief Constructor.
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/// \param[in] _world Pointer to the world.
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public: UserCmdManager(const WorldPtr _world);
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/// \brief Destructor.
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public: virtual ~UserCmdManager();
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/// \brief Callback when a UserCmd message is received, notifying that
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/// a new command has been executed by a user.
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/// \param[in] _msg Incoming message
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private: void OnUserCmdMsg(ConstUserCmdPtr &_msg);
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/// \brief Callback when an UndoRedo message is received, notifying that a
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/// user is requesting to undo / redo commands.
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/// \param[in] _msg Incoming message
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private: void OnUndoRedoMsg(ConstUndoRedoPtr &_msg);
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/// \brief Publish a message about current user command statistics.
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private: void PublishCurrentStats();
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/// \internal
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/// \brief Pointer to private data.
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private: UserCmdManagerPrivate *dataPtr;
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};
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}
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}
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#endif
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