gz/sim/gui/GuiRunner.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_GAZEBO_GUI_GUIRUNNER_HH_
#define GZ_GAZEBO_GUI_GUIRUNNER_HH_
 
#include <gz/msgs/serialized.pb.h>
 
#include <QtCore>
#include <memory>
#include <mutex>
#include <string>
 
#include <gz/transport/Node.hh>
 
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/gui/Export.hh"
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
class IGNITION_GAZEBO_GUI_VISIBLE GuiRunner : public QObject
{
  Q_OBJECT
 
  public: explicit GuiRunner(const std::string &_worldName);
 
  public: ~GuiRunner() override;
 
  public slots: void OnPluginAdded(const QString &_objectName);
 
  public slots: void RequestState();
 
  private: void OnStateAsyncService(const msgs::SerializedStepMap &_res);
 
  private: void OnState(const msgs::SerializedStepMap &_msg);
 
  private: Q_INVOKABLE void OnStateQt(const msgs::SerializedStepMap &_msg);
 
  private: Q_INVOKABLE void UpdatePlugins();
 
  private: ignition::gazebo::EntityComponentManager ecm;
 
  private: transport::Node node;
 
  private: std::string stateTopic;
 
  private: UpdateInfo updateInfo;
};
}
}
}
#endif