EventSource.hh
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1/*
2 * Copyright (C) 2014 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GAZEBO_PLUGINS_EVENTSOURCE_HH_
19#define GAZEBO_PLUGINS_EVENTSOURCE_HH_
20
21#ifdef _WIN32
22 // Ensure that Winsock2.h is included before Windows.h, which can get
23 // pulled in by anybody (e.g., Boost).
24#include <Winsock2.h>
25#endif
26
27#include <memory>
28#include <string>
29
30#include "gazebo/gazebo.hh"
31#include "gazebo/physics/physics.hh"
32#include "gazebo/common/common.hh"
34
35#include "SimEventsException.hh"
36
37namespace gazebo
38{
41 {
47 const std::string &_type,
48 physics::WorldPtr _world);
49
51 public: virtual ~EventSource();
52
56 public: void Emit(const std::string& _data) const;
57
60 public: virtual void Load(const sdf::ElementPtr _sdf);
61
63 public: virtual void Init();
64
68 public: virtual bool IsActive() const;
69
71 protected: std::string name;
72
74 protected: std::string type;
75
78
81 protected: bool active;
82
85 };
86
87 typedef std::shared_ptr<EventSource> EventSourcePtr;
88
91 {
95 public: template<typename T>
97 ConnectSpawnModel(T _subscriber)
98 { return spawnModel.Connect(_subscriber); }
99
101 public: static event::EventT<void (std::string, bool)> spawnModel;
102 };
103}
104
105#endif
Forward declarations for transport.
The base class for emitting SimEvents.
Definition EventSource.hh:41
bool active
True if the event source is active.
Definition EventSource.hh:81
void Emit(const std::string &_data) const
emit an event with data to the internal publisher (and using the internal type)
physics::WorldPtr world
Pointer to the world.
Definition EventSource.hh:77
virtual void Load(const sdf::ElementPtr _sdf)
Load from an sdf element (with possible configuration data)
virtual void Init()
Initialize the event.
std::string type
Type of event.
Definition EventSource.hh:74
virtual bool IsActive() const
An event source can be used to enable other events.
std::string name
Name of the event.
Definition EventSource.hh:71
virtual ~EventSource()
Destructor.
transport::PublisherPtr pub
a way to send messages to the other topics (to the REST)
Definition EventSource.hh:84
EventSource(transport::PublisherPtr _pub, const std::string &_type, physics::WorldPtr _world)
Constructor.
Gazebo events to detect model creation/deletion.
Definition EventSource.hh:91
static event::EventT< void(std::string, bool)> spawnModel
A model has been completed and uploaded onto the server.
Definition EventSource.hh:101
static event::ConnectionPtr ConnectSpawnModel(T _subscriber)
Connect a callback to the spawn model event.
Definition EventSource.hh:97
A class for event processing.
Definition Event.hh:98
ConnectionPtr Connect(const std::function< T > &_subscriber)
Connect a callback to this event.
Definition Event.hh:558
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
Forward declarations for the common classes.
Definition Animation.hh:27
std::shared_ptr< EventSource > EventSourcePtr
Definition EventSource.hh:87