377 lines
17 KiB
C++
377 lines
17 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 _EVENTS_HH_
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#define _EVENTS_HH_
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#include <string>
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#include <sdf/sdf.hh>
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#include "gazebo/common/Console.hh"
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#include "gazebo/common/UpdateInfo.hh"
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#include "gazebo/common/Event.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace event
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{
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/// \addtogroup gazebo_event
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/// \{
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/// \class Events Events.hh common/common.hh
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/// \brief An Event class to get notifications for simulator events
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class GZ_COMMON_VISIBLE Events
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{
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the pause signal
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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 ConnectionPtr ConnectPause(T _subscriber)
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{ return pause.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the pause signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectPause(ConnectionPtr _subscriber)
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{ pause.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the step signal
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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 ConnectionPtr ConnectStep(T _subscriber)
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{ return step.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the step signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectStep(ConnectionPtr _subscriber)
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{ step.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the stop signal
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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 ConnectionPtr ConnectStop(T _subscriber)
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{ return stop.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the stop signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectStop(ConnectionPtr _subscriber)
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{ stop.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the world created signal
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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 ConnectionPtr ConnectWorldCreated(T _subscriber)
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{ return worldCreated.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the world created signal
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public: static void DisconnectWorldCreated(ConnectionPtr _subscriber)
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{ worldCreated.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the add entity signal
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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 ConnectionPtr ConnectCreateEntity(T _subscriber)
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{ return entityCreated.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the add entity signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectCreateEntity(ConnectionPtr _subscriber)
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{ entityCreated.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the set selected entity
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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 ConnectionPtr ConnectSetSelectedEntity(T _subscriber)
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{ return setSelectedEntity.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the set selected entity
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectSetSelectedEntity(ConnectionPtr _subscriber)
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{ setSelectedEntity.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the delete entity
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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 ConnectionPtr ConnectDeleteEntity(T _subscriber)
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{ return deleteEntity.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the delete entity
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectDeleteEntity(ConnectionPtr _subscriber)
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{ deleteEntity.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the add entity signal
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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 ConnectionPtr ConnectAddEntity(T _subscriber)
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{ return addEntity.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the add entity signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectAddEntity(ConnectionPtr _subscriber)
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{ addEntity.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the world update start signal
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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 ConnectionPtr ConnectWorldUpdateBegin(T _subscriber)
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{ return worldUpdateBegin.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the world update start signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectWorldUpdateBegin(
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ConnectionPtr _subscriber);
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot to the before physics update signal
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/// \param[in] _subscriber the subscriber to this event
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/// \return a connection
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///
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/// The signal is called after collision detection has finished and before
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/// the physics update step. So you can e.g. change some forces depending
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/// on the collisions that have occured.
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public: template<typename T>
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static ConnectionPtr ConnectBeforePhysicsUpdate(T _subscriber)
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{ return beforePhysicsUpdate.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot from the before physics update signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectBeforePhysicsUpdate(
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ConnectionPtr _subscriber)
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{ beforePhysicsUpdate.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the the world update end signal
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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 ConnectionPtr ConnectWorldUpdateEnd(T _subscriber)
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{ return worldUpdateEnd.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the the world update end signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectWorldUpdateEnd(ConnectionPtr _subscriber)
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{ worldUpdateEnd.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect to the the world reset signal
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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 ConnectionPtr ConnectWorldReset(T _subscriber)
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{ return worldReset.Connect(_subscriber); }
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/// \brief Disconnect from the world reset signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectWorldReset(ConnectionPtr _subscriber)
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{ worldReset.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect to the time reset signal
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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 ConnectionPtr ConnectTimeReset(T _subscriber)
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{ return timeReset.Connect(_subscriber); }
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/// \brief Disconnect from the time reset signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectTimeReset(ConnectionPtr _subscriber)
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{ timeReset.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect to the remove sensor signal
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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 ConnectionPtr ConnectRemoveSensor(T _subscriber)
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{ return removeSensor.Connect(_subscriber); }
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/// \brief Disconnect from the remove sensor signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectRemoveSensor(ConnectionPtr _subscriber)
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{ removeSensor.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect to the create sensor signal
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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 ConnectionPtr ConnectCreateSensor(T _subscriber)
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{ return createSensor.Connect(_subscriber); }
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/// \brief Disconnect from the create sensor signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectCreateSensor(ConnectionPtr _subscriber)
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{ createSensor.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Render start signal
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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 ConnectionPtr ConnectPreRender(T _subscriber)
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{ return preRender.Connect(_subscriber); }
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/// \brief Disconnect a render start signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectPreRender(ConnectionPtr _subscriber)
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{ preRender.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the render update signal
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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 ConnectionPtr ConnectRender(T _subscriber)
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{ return render.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the render update signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectRender(ConnectionPtr _subscriber)
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{ render.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the post render update signal
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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 ConnectionPtr ConnectPostRender(T _subscriber)
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{ return postRender.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the post render update signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectPostRender(ConnectionPtr _subscriber)
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{ postRender.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the diagnostic timer start signal
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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 ConnectionPtr ConnectDiagTimerStart(T _subscriber)
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{ return diagTimerStart.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the diagnostic timer start signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectDiagTimerStart(ConnectionPtr _subscriber)
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{ diagTimerStart.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot the diagnostic timer stop signal
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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 ConnectionPtr ConnectDiagTimerStop(T _subscriber)
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{ return diagTimerStop.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot the diagnostic timer stop signal
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectDiagTimerStop(ConnectionPtr _subscriber)
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{ diagTimerStop.Disconnect(_subscriber); }
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//////////////////////////////////////////////////////////////////////////
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/// \brief Connect a boost::slot to the sigint 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 ConnectionPtr ConnectSigInt(T _subscriber)
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{ return sigInt.Connect(_subscriber); }
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/// \brief Disconnect a boost::slot to the sigint event
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/// \param[in] _subscriber the subscriber to this event
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public: static void DisconnectSigInt(ConnectionPtr _subscriber)
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{ sigInt.Disconnect(_subscriber); }
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/// \brief Pause signal
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public: static EventT<void (bool)> pause;
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/// \brief Step the simulation once signal
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public: static EventT<void ()> step;
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/// \brief Simulation stop signal
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public: static EventT<void ()> stop;
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/// \brief Simulation stop signal
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public: static EventT<void ()> sigInt;
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/// \brief A world has been created
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public: static EventT<void (std::string)> worldCreated;
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/// \brief An entity has been created
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public: static EventT<void (std::string)> entityCreated;
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/// \brief An entity has been selected
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public: static EventT<void (std::string, std::string)> setSelectedEntity;
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/// \brief An entity has been added
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public: static EventT<void (std::string)> addEntity;
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/// \brief An entity has been deleted
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public: static EventT<void (std::string)> deleteEntity;
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/// \brief World update has started
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public: static EventT<void (const common::UpdateInfo &)> worldUpdateBegin;
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/// \brief Collision detection has been done, physics update not yet
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public: static EventT<void (const common::UpdateInfo &)>
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beforePhysicsUpdate;
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/// \brief World update has ended
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public: static EventT<void ()> worldUpdateEnd;
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/// \brief World reset signal
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public: static EventT<void ()> worldReset;
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/// \brief Time reset signal
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public: static EventT<void ()> timeReset;
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/// \brief Pre-render
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public: static EventT<void ()> preRender;
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/// \brief Render
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public: static EventT<void ()> render;
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/// \brief Post-Render
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public: static EventT<void ()> postRender;
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/// \brief Diagnostic timer start
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public: static EventT<void (std::string)> diagTimerStart;
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/// \brief Diagnostic timer stop
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public: static EventT<void (std::string)> diagTimerStop;
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/// \brief Remove a sensor
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///
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/// * Parameter 1 (string): Name of the sensor to remove.
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public: static EventT<void (std::string)> removeSensor;
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/// \brief Create a sensor
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/// * Parameter 1 (sdf::ElementPtr): The SDF element that describes
|
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|
|
/// the sensor.
|
||
|
|
/// * Parameter 2 (std::string): Name of the world in which to create
|
||
|
|
/// the sensor.
|
||
|
|
/// * Parameter 3 (std::string): The scoped parent name
|
||
|
|
/// (model::link).
|
||
|
|
/// * Parameter 4 (uint32_t): ID of the sensor
|
||
|
|
public: static EventT<void (sdf::ElementPtr,
|
||
|
|
const std::string &,
|
||
|
|
const std::string &,
|
||
|
|
const uint32_t)> createSensor;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|