88 lines
2.9 KiB
C++
88 lines
2.9 KiB
C++
/*
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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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#include "EventSource.hh"
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using namespace gazebo;
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// static data initialization
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event::EventT<void (std::string, bool)> SimEventConnector::spawnModel;
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////////////////////////////////////////////////////////////////////////////////
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EventSource::~EventSource()
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{
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}
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////////////////////////////////////////////////////////////////////////////////
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EventSource::EventSource(transport::PublisherPtr _pub,
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const std::string& _type,
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physics::WorldPtr _world)
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:type(_type), world(_world), active(true), pub(_pub)
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{
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GZ_ASSERT(_world, "EventSource world pointer is NULL");
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GZ_ASSERT(_pub, "EventSource pub pointer is NULL");
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}
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////////////////////////////////////////////////////////////////////////////////
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void EventSource::Init()
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{
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}
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////////////////////////////////////////////////////////////////////////////////
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void EventSource::Load(const sdf::ElementPtr _sdf)
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{
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this->name = _sdf->GetElement("name")->Get<std::string>();
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// active by default, but this can be set in the world file
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if (_sdf->HasElement("active"))
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{
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sdf::ElementPtr activeE = _sdf->GetElement("active");
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this->active = activeE->Get<std::string>() == "true";
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}
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}
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////////////////////////////////////////////////////////////////////////////////
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void EventSource::Emit(const std::string &_data) const
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{
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if (this->IsActive())
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{
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// add event name, type and data as strings (data is JSON)
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gazebo::msgs::SimEvent msg;
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msg.set_type(this->type);
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msg.set_name(this->name);
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msg.set_data(_data);
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// add world stats to give context to the event (mostly time & sim state)
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gazebo::msgs::WorldStatistics *worldStatsMsg;
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worldStatsMsg = msg.mutable_world_statistics();
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worldStatsMsg->set_iterations(this->world->GetIterations());
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worldStatsMsg->set_paused(this->world->IsPaused());
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msgs::Set(worldStatsMsg->mutable_sim_time(), this->world->GetSimTime());
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msgs::Set(worldStatsMsg->mutable_real_time(), this->world->GetRealTime());
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msgs::Set(worldStatsMsg->mutable_pause_time(), this->world->GetPauseTime());
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// send it on the publisher we got in the ctor
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this->pub->Publish(msg);
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}
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}
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///////////////////////////////////////////////////////////////////////////////
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bool EventSource::IsActive() const
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{
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// inactive events do not fire.
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return this->active;
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}
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