ICommsModel.hh

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/*
 * Copyright (C) 2022 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_ICOMMSMODEL_HH_
#define IGNITION_GAZEBO_ICOMMSMODEL_HH_

#include <memory>

#include <ignition/utils/ImplPtr.hh>
#include <sdf/Element.hh>
#include "ignition/gazebo/comms/MsgManager.hh"
#include "ignition/gazebo/config.hh"
#include "ignition/gazebo/System.hh"

namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {

  // Forward declarations
  class EntityComponentManager;
  class EventManager;

namespace comms
{
  class IGNITION_GAZEBO_VISIBLE ICommsModel:
#ifdef _MSC_VER
  #pragma warning(push)
  #pragma warning(disable:4275)
#endif
        public System,
#ifdef _MSC_VER
  #pragma warning(pop)
#endif
        public ISystemConfigure,
        public ISystemPreUpdate
  {
    public: explicit ICommsModel();

    // 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;

    public: virtual void StepImpl(const UpdateInfo &_info,
                                  EntityComponentManager &_ecm);

    public: virtual void Load(const Entity &_entity,
                              std::shared_ptr<const sdf::Element> _sdf,
                              EntityComponentManager &_ecm,
                              EventManager &_eventMgr) = 0;

    public: virtual void Step(const UpdateInfo &_info,
                              const Registry &_currentRegistry,
                              Registry &_newRegistry,
                              EntityComponentManager &_ecm) = 0;

    IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };
}
}
}
}

#endif