118 lines
3.5 KiB
C++
118 lines
3.5 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_REST_WEB_PLUGIN_HH_
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#define _GAZEBO_REST_WEB_PLUGIN_HH_
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#include <list>
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#include <vector>
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#include <string>
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
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#include "RestApi.hh"
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namespace gazebo
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{
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/// \class RestWebPlugin RestWebPlugin.hh RestWebPlugin.hh
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/// \brief REST web plugin
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class GAZEBO_VISIBLE RestWebPlugin : public SystemPlugin
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{
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/// \brief Constructor
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public: RestWebPlugin();
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/// \brief Destructor
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public: virtual ~RestWebPlugin();
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/// \brief Plugin Load
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/// \param[in] _argc Argument count
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/// \param[in] _argv Argument vector
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public: virtual void Load(int _argc, char **_argv);
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/// \brief Called everytime a login message is received.
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/// \param[in] _msg The login message
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public: void OnRestLoginRequest(ConstRestLoginPtr &_msg);
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/// \brief Called everytime a logout message is received.
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/// \param[in] _msg The login message
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public: void OnRestLogoutRequest(ConstRestLogoutPtr &_msg);
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/// \brief Called everytime a REST POST event message is received
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/// \param[in] _msg The post message
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public: void OnEventRestPost(ConstRestPostPtr &_msg);
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/// \brief Called everytime a SimEvent message is received
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/// \param[in] The SimEvent message
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public: void OnSimEvent(ConstSimEventPtr &_msg);
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/// \brief Plugin initialization
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private: virtual void Init();
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/// \brief Entry point for the web requests processing thread
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private: void RunRequestQ();
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/// \brief Process a RestRequest message from the requestThread
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/// \param[in] The message to process
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private: void ProcessLoginRequest(ConstRestLoginPtr _msg);
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/// \brief Gazebo pub/sub node
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private: gazebo::transport::NodePtr node;
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/// \brief Gazebo subscriber for login requests
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private: gazebo::transport::SubscriberPtr subLogin;
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/// \brief Gazebo subscriber for logout requests
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private: gazebo::transport::SubscriberPtr subLogout;
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/// \brief Gazebo subscriber for POST events
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private: gazebo::transport::SubscriberPtr subEvent;
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/// \brief Gazebo subscriber for sim events
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private: gazebo::transport::SubscriberPtr subSimEvent;
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/// \brief Gazebo publisher
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private: gazebo::transport::PublisherPtr pub;
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/// \brief Gazebo events
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private: std::vector<event::ConnectionPtr> connections;
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/// \brief REST calls
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private: RestApi restApi;
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/// \brief A flag to interrupt message processing
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private: bool stopMsgProcessing;
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/// \brief A list to accumulate pending requests
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private: std::list<boost::shared_ptr<const gazebo::msgs::RestLogin>>
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msgLoginQ;
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/// \brief A thread to process requests without stopping the simulation
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private: boost::thread *requestQThread;
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/// \brief A mutex to ensure integrity of the request list
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private: boost::mutex requestQMutex;
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/// \brief A session string to keep track of exercises
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private: std::string session;
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};
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}
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#endif
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