102 lines
2.9 KiB
C++
102 lines
2.9 KiB
C++
/*
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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: Simulation Interface 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_SIMULATION_INTERFACE_HH
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#define GAZEBO_SIMULATION_INTERFACE_HH
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#include <map>
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#include <string>
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#include "GazeboInterface.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/util/system.hh"
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namespace boost
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{
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class recursive_mutex;
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}
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/// \addtogroup player_iface
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/// \{
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/// \defgroup simulation_player Simulation Interface
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/// Provides:
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/// - PLAYER_SIMULATION_REQ_SET_POSE3D
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/// - "set_pose3d"
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/// - PLAYER_SIMULATION_REQ_SET_POSE2D
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/// - "set_pose2d"
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/// - PLAYER_SIMULATION_REQ_GET_POSE3D
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/// - "get_pose"
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/// - PLAYER_SIMULATION_REQ_GET_POSE2D
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/// - "get_pose"
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/// - PLAYER_SIMULATION_REQ_GET_PROPERTY
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/// - "sim_time" returns double
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/// - "real_time" returns double
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/// - "pause_time" returns double
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/// \brief The Simulation interface
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/// \{
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///
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/// \brief The Simulation interface
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class GAZEBO_VISIBLE SimulationInterface : public GazeboInterface
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{
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/// \brief Constructor
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public: SimulationInterface(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 ~SimulationInterface();
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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);
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/// \brief Update this interface, publish new info.
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public: virtual void Update();
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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();
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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();
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private: void OnStats(ConstWorldStatisticsPtr &_msg);
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private: QueuePointer *responseQueue;
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private: player_simulation_pose3d_req_t pose3dReq;
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private: player_simulation_pose2d_req_t pose2dReq;
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private: static boost::recursive_mutex *mutex;
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private: gazebo::transport::SubscriberPtr statsSub;
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private: gazebo::transport::PublisherPtr modelPub;
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private: double simTime, realTime, pauseTime;
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private: bool paused;
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private: std::map<std::string, gazebo::math::Pose> entityPoses;
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};
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/// \}
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/// \}
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#endif
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