gz/sim/SystemLoader.hh

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/*
 * Copyright (C) 2018 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_SYSTEMLOADER_HH_
#define GZ_GAZEBO_SYSTEMLOADER_HH_
 
#include <list>
#include <memory>
#include <optional>
#include <string>
 
#include <sdf/Element.hh>
#include <sdf/Plugin.hh>
 
#include <gz/sim/Export.hh>
#include <gz/sim/System.hh>
#include <gz/sim/SystemPluginPtr.hh>
 
namespace ignition
{
  namespace gazebo
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
    // Forward declarations.
    class IGNITION_GAZEBO_HIDDEN SystemLoaderPrivate;
 
    class IGNITION_GAZEBO_VISIBLE SystemLoader
    {
      public: explicit SystemLoader();
 
      public: ~SystemLoader();
 
      public: void AddSystemPluginPath(const std::string &_path);
 
      public: std::optional<SystemPluginPtr> LoadPlugin(
                  const sdf::ElementPtr &_sdf);
 
      public: std::optional<SystemPluginPtr> LoadPlugin(
                  const std::string &_filename,
                  const std::string &_name,
                  const sdf::ElementPtr &_sdf);
 
      public: std::optional<SystemPluginPtr> LoadPlugin(
                  const sdf::Plugin &_plugin);
 
      public: std::string PrettyStr() const;
 
      public: std::list<std::string> PluginPaths() const;
 
      private: std::unique_ptr<SystemLoaderPrivate> dataPtr;
    };
    }
    using SystemLoaderPtr = std::shared_ptr<SystemLoader>;
  }
}
#endif  // GZ_GAZEBO_SYSTEMLOADER_HH_