Server.hh
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1/*
2 * Copyright (C) 2012 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#ifndef _SERVER_HH_
18#define _SERVER_HH_
19
20#include <string>
21#include <list>
22
23#include <sdf/sdf.hh>
24
25#include "gazebo/msgs/msgs.hh"
28#include "gazebo/util/system.hh"
29
30
31namespace gazebo
32{
33 class Master;
34
35 // forward declaration of private class
36 struct ServerPrivate;
37
42 {
44 public: Server();
45
47 public: virtual ~Server();
48
50 public: void PrintUsage();
51
56 public: bool ParseArgs(int _argc, char **_argv);
57
60 public: bool PreLoad();
61
66 public: bool LoadFile(const std::string &_filename="worlds/empty.world",
67 const std::string &_physics="");
68
72 public: bool LoadString(const std::string &_sdfString);
73
75 public: void Run();
76
78 public: void Stop();
79
81 public: void Fini();
82
85 public: void SetParams(const common::StrStr_M &_params);
86
89 public: bool GetInitialized() const;
90
94 private: bool LoadImpl(sdf::ElementPtr _elem,
95 const std::string &_physics="");
96
99 private: static void SigInt(int _v);
100
102 private: void ProcessParams();
103
106 private: void OnControl(ConstServerControlPtr &_msg);
107
111 private: bool OpenWorld(const std::string &_filename);
112
114 private: void ProcessControlMsgs();
115
118 private: std::unique_ptr<ServerPrivate> dataPtr;
119 };
120}
121
122#endif
Forward declarations for transport.
Definition Server.hh:42
void Fini()
Finalize the Server.
void Stop()
Stop the Server.
bool ParseArgs(int _argc, char **_argv)
Parse command line arguments.
bool GetInitialized() const
Get whether the Server has been initialized.
void SetParams(const common::StrStr_M &_params)
Set the parameters.
virtual ~Server()
Destructor.
void PrintUsage()
Output help about gzserver.
bool PreLoad()
Preload the server.
void Run()
Run the Server.
bool LoadString(const std::string &_sdfString)
Load the Server from an SDF string.
bool LoadFile(const std::string &_filename="worlds/empty.world", const std::string &_physics="")
Load a world file and optionally override physics engine type.
Server()
Constructor.
std::map< std::string, std::string > StrStr_M
Definition CommonTypes.hh:101
Forward declarations for the common classes.
Definition Animation.hh:27
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition system.hh:59