111 lines
3.6 KiB
C++
111 lines
3.6 KiB
C++
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/*
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* Copyright (C) 2014 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_PLUGIN_EVENTSOURCE_HH_
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#define _GAZEBO_PLUGIN_EVENTSOURCE_HH_
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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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 "gazebo/common/common.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "SimEventsException.hh"
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namespace gazebo
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{
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/// \brief The base class for emitting SimEvents
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class EventSource
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{
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/// \brief Constructor
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/// \param[in] _pub the publisher where the events are emitted
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/// \param[in] _type the type of event
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/// \param[in] _world Pointer to the world (in order to get model refs, etc)
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public: EventSource(transport::PublisherPtr _pub,
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const std::string &_type,
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physics::WorldPtr _world);
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/// \brief Destructor
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public: virtual ~EventSource();
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/// \brief emit an event with data to the internal publisher
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/// (and using the internal type)
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/// \param[in] _data the JSON data related to this event.
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public: void Emit(const std::string& _data) const;
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/// \brief Load from an sdf element (with possible configuration data)
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/// \param[in] _sdf the sdf element for the event in the world file
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public: virtual void Load(const sdf::ElementPtr _sdf);
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/// \brief Initialize the event
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public: virtual void Init();
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/// \brief An event source can be used to enable other events. Inactive
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/// events do not generate an message when Emit is called.
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/// \return true if the event is active
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public: virtual bool IsActive() const;
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/// \brief Name of the event.
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protected: std::string name;
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/// \brief Type of event
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protected: std::string type;
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/// \brief Pointer to the world.
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protected: physics::WorldPtr world;
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/// \brief True if the event source is active.
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/// Inactive event sources do not emit events
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protected: bool active;
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/// \brief a way to send messages to the other topics (to the REST)
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protected: transport::PublisherPtr pub;
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};
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typedef boost::shared_ptr<EventSource> EventSourcePtr;
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/// \brief Gazebo events to detect model creation/deletion
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class SimEventConnector
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{
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/// \brief Connect a boost::slot to the spawn model event
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/// \param[in] _subscriber the subscriber to this event
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/// \return a connection
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public: template<typename T>
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static event::ConnectionPtr
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ConnectSpawnModel(T _subscriber)
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{ return spawnModel.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot to the spawn model event
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectSpawnModel(
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event::ConnectionPtr _subscriber)
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{ spawnModel.Disconnect(_subscriber); }
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/// \brief A model has been completed and uploaded onto the server.
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public: static event::EventT<void (std::string, bool)> spawnModel;
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};
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}
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#endif
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