Breadcrumbs.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 IGNITION_GAZEBO_SYSTEMS_BREADCRUMBS_HH_
#define IGNITION_GAZEBO_SYSTEMS_BREADCRUMBS_HH_

#include <memory>
#include <set>
#include <string>
#include <unordered_map>
#include <vector>

#include <sdf/Element.hh>
#include <sdf/Geometry.hh>
#include <sdf/Root.hh>

#include <ignition/transport/Node.hh>
#include <ignition/math/Pose3.hh>

#include "ignition/gazebo/Model.hh"
#include "ignition/gazebo/SdfEntityCreator.hh"
#include "ignition/gazebo/System.hh"

namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
  class IGNITION_GAZEBO_VISIBLE Breadcrumbs
      : public System,
        public ISystemConfigure,
        public ISystemPreUpdate
  {
    public: Breadcrumbs() = default;

    // Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) override;

    // Documentation inherited
    public: void PreUpdate(
                const ignition::gazebo::UpdateInfo &_info,
                ignition::gazebo::EntityComponentManager &_ecm) override;

    private: void OnDeploy(const msgs::Empty &_msg);

    public: bool MakeStatic(Entity _entity, EntityComponentManager &_ecm);

    private: bool initialized{false};

    private: transport::Node node;

    private: Model model{kNullEntity};

    private: Entity worldEntity{kNullEntity};

    public: std::unique_ptr<SdfEntityCreator> creator{nullptr};

    private: int maxDeployments{-1};

    private: int numDeployments{0};

    private: sdf::Root modelRoot;

    private: bool isPerformer{false};

    private: bool allowRenaming{false};

    private: std::optional<sdf::Geometry> performerGeometry;

    private: std::vector<bool> pendingCmds;

    private: std::set<Entity> pendingGeometryUpdate;

    private: std::mutex pendingCmdsMutex;

    private: std::chrono::steady_clock::duration disablePhysicsTime =
        std::chrono::steady_clock::duration::zero();

    private: std::unordered_map<Entity, std::chrono::steady_clock::duration>
        autoStaticEntities;

    private: sdf::Model staticModelToSpawn;

    public: transport::Node::Publisher remainingPub;

    public: bool topicStatistics{false};

    public: std::string topic;
  };
  }
}
}
}

#endif