97 lines
2.8 KiB
C++
97 lines
2.8 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2015 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.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _GAZEBO_PLUGINS_EVENTS_OCCUPIED_EVENT_SOURCE_HH_
|
||
|
|
#define _GAZEBO_PLUGINS_EVENTS_OCCUPIED_EVENT_SOURCE_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
#include <map>
|
||
|
|
|
||
|
|
#include <sdf/sdf.hh>
|
||
|
|
|
||
|
|
#include <gazebo/transport/TransportTypes.hh>
|
||
|
|
|
||
|
|
#include <gazebo/common/Plugin.hh>
|
||
|
|
#include <gazebo/util/system.hh>
|
||
|
|
|
||
|
|
#include "Region.hh"
|
||
|
|
#include "EventSource.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
/// \brief A plugin that transmits a message when an in-region event occurs.
|
||
|
|
/// Events are specified in SDF. The following is example usage:
|
||
|
|
//
|
||
|
|
/// \verbatim
|
||
|
|
/// <plugin filename="libSimEventsPlugin.so" name="event_plugin">
|
||
|
|
/// <region>
|
||
|
|
/// <name>region1</name>
|
||
|
|
/// <volume>
|
||
|
|
/// <min>1.5 -1 0</min>
|
||
|
|
/// <max>2.5 1 1</max>
|
||
|
|
/// </volume>
|
||
|
|
/// </region>
|
||
|
|
///
|
||
|
|
/// <event>
|
||
|
|
/// <name>region1_event</name>
|
||
|
|
/// <type>occupied</type>
|
||
|
|
/// <topic>~/elevator</topic>
|
||
|
|
/// <region>region1</region>
|
||
|
|
/// <msg_data>0</msg_data>
|
||
|
|
/// </event>
|
||
|
|
/// </plugin>
|
||
|
|
/// \endverbatim
|
||
|
|
class GAZEBO_VISIBLE OccupiedEventSource : public EventSource
|
||
|
|
{
|
||
|
|
// Documentation inherited
|
||
|
|
public: OccupiedEventSource(transport::PublisherPtr _pub,
|
||
|
|
physics::WorldPtr _world,
|
||
|
|
const std::map<std::string, RegionPtr> &_regions);
|
||
|
|
|
||
|
|
/// \brief Destructor.
|
||
|
|
public: ~OccupiedEventSource() = default;
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Load(const sdf::ElementPtr _sdf);
|
||
|
|
|
||
|
|
/// \brief Update function called once every cycle
|
||
|
|
private: void Update();
|
||
|
|
|
||
|
|
/// \brief SDF pointer.
|
||
|
|
private: sdf::ElementPtr sdf;
|
||
|
|
|
||
|
|
/// \brief Map of region names to regions.
|
||
|
|
private: std::map<std::string, RegionPtr> regions;
|
||
|
|
|
||
|
|
/// \brief String message that is transmitted when an event occurs.
|
||
|
|
public: msgs::GzString msg;
|
||
|
|
|
||
|
|
/// \brief Publisher that transmits the message when an event occurs.
|
||
|
|
public: transport::PublisherPtr msgPub;
|
||
|
|
|
||
|
|
/// \brief Pointer to the update event connection
|
||
|
|
private: event::ConnectionPtr updateConnection;
|
||
|
|
|
||
|
|
/// \brief Pointer to a transport node.
|
||
|
|
private: transport::NodePtr node;
|
||
|
|
|
||
|
|
/// \brief The region used for the in region check.
|
||
|
|
private: std::string regionName;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
#endif
|