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#include <memory>
22#include <string>
23
24#include "gazebo/gazebo.hh"
25#include "gazebo/physics/physics.hh"
26#include "gazebo/common/common.hh"
28
29#include "SimEventsException.hh"
30
31namespace gazebo
32{
35 {
41 const std::string &_type,
42 physics::WorldPtr _world);
43
45 public: virtual ~EventSource();
46
50 public: void Emit(const std::string& _data) const;
51
54 public: virtual void Load(const sdf::ElementPtr _sdf);
55
57 public: virtual void Init();
58
62 public: virtual bool IsActive() const;
63
65 protected: std::string name;
66
68 protected: std::string type;
69
72
75 protected: bool active;
76
79 };
80
81 typedef std::shared_ptr<EventSource> EventSourcePtr;
82
85 {
89 public: template<typename T>
91 ConnectSpawnModel(T _subscriber)
92 { return spawnModel.Connect(_subscriber); }
93
95 public: static event::EventT<void (std::string, bool)> spawnModel;
96 };
97}
98
99#endif
Forward declarations for transport.
The base class for emitting SimEvents.
Definition EventSource.hh:35
bool active
True if the event source is active.
Definition EventSource.hh:75
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:71
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:68
virtual bool IsActive() const
An event source can be used to enable other events.
std::string name
Name of the event.
Definition EventSource.hh:65
virtual ~EventSource()
Destructor.
transport::PublisherPtr pub
a way to send messages to the other topics (to the REST)
Definition EventSource.hh:78
EventSource(transport::PublisherPtr _pub, const std::string &_type, physics::WorldPtr _world)
Constructor.
Gazebo events to detect model creation/deletion.
Definition EventSource.hh:85
static event::EventT< void(std::string, bool)> spawnModel
A model has been completed and uploaded onto the server.
Definition EventSource.hh:95
static event::ConnectionPtr ConnectSpawnModel(T _subscriber)
Connect a callback to the spawn model event.
Definition EventSource.hh:91
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:81