66 lines
1.9 KiB
C++
66 lines
1.9 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 "ExistenceEventSource.hh"
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using namespace gazebo;
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////////////////////////////////////////////////////////////////////////////////
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ExistenceEventSource::ExistenceEventSource(transport::PublisherPtr _pub,
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physics::WorldPtr _world)
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:EventSource(_pub, "existence", _world)
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{
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}
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////////////////////////////////////////////////////////////////////////////////
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void ExistenceEventSource::Load(const sdf::ElementPtr _sdf)
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{
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EventSource::Load(_sdf);
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if (_sdf->HasElement("model"))
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{
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this->model = _sdf->GetElement("model")->Get<std::string>();
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}
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this->existenceConnection = SimEventConnector::ConnectSpawnModel(
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boost::bind(&ExistenceEventSource::OnExistence, this, _1, _2));
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}
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////////////////////////////////////////////////////////////////////////////////
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void ExistenceEventSource::OnExistence(const std::string &_model, bool _alive)
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{
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// is this a model we're interested in?
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if (_model.find(this->model) == 0)
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{
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// set the data for the existence event
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std::string json = "{";
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json += "\"event\":\"existence\",";
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if (_alive)
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{
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json += "\"state\":\"creation\",";
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}
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else
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{
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json += "\"state\":\"deletion\",";
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}
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json += "\"model\":\"" + _model + "\"";
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json += "}";
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this->Emit(json);
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}
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}
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