160 lines
3.6 KiB
C++
160 lines
3.6 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#ifdef _WIN32
|
|
// Ensure that Winsock2.h is included before Windows.h, which can get
|
|
// pulled in by anybody (e.g., Boost).
|
|
#include <Winsock2.h>
|
|
#endif
|
|
|
|
#include "gazebo/common/Console.hh"
|
|
|
|
#include "gazebo/transport/TransportIface.hh"
|
|
|
|
#include "gazebo/rendering/RenderingIface.hh"
|
|
|
|
#include "gazebo/sensors/SensorFactory.hh"
|
|
#include "gazebo/sensors/SensorManager.hh"
|
|
#include "gazebo/sensors/Sensor.hh"
|
|
#include "gazebo/sensors/SensorsIface.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
bool g_disable = false;
|
|
|
|
/////////////////////////////////////////////////
|
|
bool sensors::load()
|
|
{
|
|
if (g_disable)
|
|
return true;
|
|
|
|
// Register all the sensor types
|
|
sensors::SensorFactory::RegisterAll();
|
|
|
|
// Load the rendering system
|
|
return gazebo::rendering::load();
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
bool sensors::init()
|
|
{
|
|
if (g_disable)
|
|
return true;
|
|
|
|
// The rendering engine will run headless
|
|
if (!gazebo::rendering::init())
|
|
{
|
|
gzthrow("Unable to intialize the rendering engine");
|
|
return false;
|
|
}
|
|
|
|
sensors::SensorManager::Instance()->Init();
|
|
|
|
return true;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
bool sensors::fini()
|
|
{
|
|
if (g_disable)
|
|
return true;
|
|
|
|
sensors::SensorManager::Instance()->Fini();
|
|
rendering::fini();
|
|
return true;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
std::string sensors::create_sensor(sdf::ElementPtr _elem,
|
|
const std::string &_worldName,
|
|
const std::string &_parentName,
|
|
uint32_t _parentId)
|
|
{
|
|
if (g_disable)
|
|
return "";
|
|
|
|
return sensors::SensorManager::Instance()->CreateSensor(_elem, _worldName,
|
|
_parentName, _parentId);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void sensors::remove_sensor(const std::string &_sensorName)
|
|
{
|
|
if (g_disable)
|
|
return;
|
|
|
|
sensors::SensorManager::Instance()->RemoveSensor(_sensorName);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void sensors::run_threads()
|
|
{
|
|
if (g_disable)
|
|
return;
|
|
|
|
sensors::SensorManager::Instance()->RunThreads();
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void sensors::run_once(bool _force)
|
|
{
|
|
if (g_disable)
|
|
return;
|
|
|
|
sensors::SensorManager::Instance()->Update(_force);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void sensors::stop()
|
|
{
|
|
if (g_disable)
|
|
return;
|
|
|
|
sensors::SensorManager::Instance()->Stop();
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
bool sensors::remove_sensors()
|
|
{
|
|
if (g_disable)
|
|
return true;
|
|
|
|
sensors::SensorManager::Instance()->RemoveSensors();
|
|
return true;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
sensors::SensorPtr sensors::get_sensor(const std::string &_name)
|
|
{
|
|
if (g_disable)
|
|
return sensors::SensorPtr();
|
|
|
|
return sensors::SensorManager::Instance()->GetSensor(_name);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void sensors::disable()
|
|
{
|
|
g_disable = true;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void sensors::enable()
|
|
{
|
|
g_disable = false;
|
|
}
|