75 lines
2.2 KiB
C++
75 lines
2.2 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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/* Desc: Generic Gazebo Device Inteface for Player
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* Author: Nate Koenig
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* Date: 2 March 2006
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*/
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#ifndef GAZEBO_PLAYER_INTERFACE_HH
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#define GAZEBO_PLAYER_INTERFACE_HH
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#include <string>
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#include "player.h"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/util/system.hh"
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/// \addtogroup player
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/// \brief Base class for all the player interfaces
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/// \{
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// Forward declarations
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class GazeboDriver;
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/// \brief Base class for all the player interfaces
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class GAZEBO_VISIBLE GazeboInterface
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{
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/// \brief Constructor
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public: GazeboInterface(player_devaddr_t _addr, GazeboDriver *_driver,
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ConfigFile *_cf, int _section);
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/// \brief Destructor
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public: virtual ~GazeboInterface();
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/// \brief Handle all messages. This is called from GazeboDriver
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public: virtual int ProcessMessage(QueuePointer &_respQueue,
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player_msghdr_t *_hdr, void *_data) = 0;
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/// \brief Update this interface, publish new info.
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public: virtual void Update() = 0;
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/// \brief Open a SHM interface when a subscription is received.
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/// This is called fromGazeboDriver::Subscribe
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public: virtual void Subscribe() = 0;
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/// \brief Close a SHM interface. This is called from
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/// GazeboDriver::Unsubscribe
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public: virtual void Unsubscribe() = 0;
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/// \brief Address of the Player Device
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public: player_devaddr_t device_addr;
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/// \brief Driver instance that created this device
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public: GazeboDriver *driver;
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protected: static std::string worldName;
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protected: gazebo::transport::NodePtr node;
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};
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/// \}
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#endif
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