gz/sim/TestFixture.hh

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/*
 * Copyright (C) 2021 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_TESTFIXTURE_HH_
#define GZ_GAZEBO_TESTFIXTURE_HH_
 
#include <memory>
#include <string>
 
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/Export.hh"
#include "gz/sim/Server.hh"
#include "gz/sim/ServerConfig.hh"
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
//
class IGNITION_GAZEBO_HIDDEN TestFixturePrivate;
class IGNITION_GAZEBO_VISIBLE TestFixture
{
  public: explicit TestFixture(const std::string &_path);
 
  public: explicit TestFixture(const ServerConfig &_config);
 
  public: virtual ~TestFixture();
 
  public: TestFixture &OnConfigure(std::function<void(
      const Entity &_entity,
      const std::shared_ptr<const sdf::Element> &_sdf,
      EntityComponentManager &_ecm,
      EventManager &_eventMgr)> _cb);
 
  public: TestFixture &OnPreUpdate(std::function<void(
      const UpdateInfo &, EntityComponentManager &)> _cb);
 
  public: TestFixture &OnUpdate(std::function<void(
      const UpdateInfo &, EntityComponentManager &)> _cb);
 
  public: TestFixture &OnPostUpdate(std::function<void(
      const UpdateInfo &, const EntityComponentManager &)> _cb);
 
  public: TestFixture &Finalize();
 
  public: std::shared_ptr<gz::sim::Server> Server() const;
 
  // TODO(chapulina) Use IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) when porting to v6
  private: TestFixturePrivate *dataPtr;
};
}
}
}
#endif