Ignition Gazebo

API Reference

5.1.0
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 
161  class TriggeredPublisher : public System,
162  public ISystemConfigure,
163  public ISystemPreUpdate
164  {
166  public: TriggeredPublisher() = default;
167 
169  public: ~TriggeredPublisher() override;
170 
171  // Documentation inherited
172  public: void Configure(const Entity &_entity,
175  EventManager &_eventMgr) override;
176 
177  // Documentation inherited
178  public: void PreUpdate(
179  const ignition::gazebo::UpdateInfo &_info,
181 
183  public: void DoWork();
184 
188  public: bool MatchInput(const transport::ProtoMsg &_inputMsg);
189 
191  private: std::string inputMsgType;
192 
194  private: std::string inputTopic;
195 
197  private: struct OutputInfo
198  {
200  std::string msgType;
201 
203  std::string topic;
204 
207  transport::ProtoMsgPtr msgData;
208 
211  };
212 
215 
217  private: std::vector<OutputInfo> outputInfo;
218 
220  private: transport::Node node;
221 
223  private: std::size_t publishCount{0};
224 
226  private: std::mutex publishCountMutex;
227 
229  private: std::condition_variable newMatchSignal;
230 
232  private: std::thread workerThread;
233 
236  private: std::atomic<bool> done{false};
237 
239  private: std::chrono::steady_clock::duration delay{0};
240 
243 
245  private: std::mutex publishQueueMutex;
246  };
247  }
248 }
249 }
250 }
251 
252 #endif
The triggered publisher system publishes a user specified message on an output topic in response to a...
Definition: TriggeredPublisher.hh:161
Information passed to systems on the update callback.
Definition: Types.hh:36
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:65
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:54
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.
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73