Ignition Gazebo

API Reference

3.7.0
TriggeredPublisher.hh
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <vector>
23 
26 
27 namespace ignition
28 {
29 namespace gazebo
30 {
31 // Inline bracket to help doxygen filtering.
32 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
33 namespace systems
34 {
35  // Forward declaration
36  class InputMatcher;
37 
156  class TriggeredPublisher : public System,
157  public ISystemConfigure
158  {
160  public: TriggeredPublisher() = default;
161 
163  public: ~TriggeredPublisher() override;
164 
165  // Documentation inherited
166  public: void Configure(const Entity &_entity,
169  EventManager &_eventMgr) override;
170 
172  public: void DoWork();
173 
177  public: bool MatchInput(const transport::ProtoMsg &_inputMsg);
178 
180  private: std::string inputMsgType;
181 
183  private: std::string inputTopic;
184 
186  private: struct OutputInfo
187  {
189  std::string msgType;
190 
192  std::string topic;
193 
196  transport::ProtoMsgPtr msgData;
197 
200  };
201 
204 
206  private: std::vector<OutputInfo> outputInfo;
207 
209  private: transport::Node node;
210 
212  private: std::size_t publishCount{0};
213 
215  private: std::mutex publishCountMutex;
216 
218  private: std::condition_variable newMatchSignal;
219 
221  private: std::thread workerThread;
222 
225  private: std::atomic<bool> done{false};
226  };
227  }
228 }
229 }
230 }
231 
232 #endif
The triggered publisher system publishes a user specified message on an output topic in response to a...
Definition: TriggeredPublisher.hh:156
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:64
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:50
Interface for a system that implements optional configuration.
Definition: System.hh:88
STL class.
google::protobuf::Message ProtoMsg
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
STL class.
Base class for a System.
Definition: System.hh:73