gz/sensors/SensorFactory.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 GZ_SENSORS_SENSORFACTORY_HH_
#define GZ_SENSORS_SENSORFACTORY_HH_
 
#include <memory>
#include <string>
#include <type_traits>
#include <sdf/sdf.hh>
 
#include <gz/common/Console.hh>
#include <gz/common/PluginMacros.hh>
#include <gz/common/SuppressWarning.hh>
 
#include <gz/sensors/config.hh>
#include <gz/sensors/Export.hh>
 
#include "gz/sensors/Sensor.hh"
 
namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    // forward declaration
    class SensorFactoryPrivate;
 
    class IGNITION_SENSORS_VISIBLE SensorPlugin
    {
      public: IGN_COMMON_SPECIALIZE_INTERFACE(gz::sensors::SensorPlugin)
 
      
      public: virtual Sensor *New() = 0;
    };
 
    template<class SensorType>
    class SensorTypePlugin : public SensorPlugin
    {
      // Documentation inherited
      public: SensorType *New() override
              {
                return new SensorType();
              };
    };
 
    class IGNITION_SENSORS_VISIBLE SensorFactory
    {
      public: SensorFactory();
 
      public: ~SensorFactory();
 
      public: template<typename T>
              std::unique_ptr<T> CreateSensor(const sdf::Sensor &_sdf)
              {
                auto sensor = SensorFactory::CreateSensor(_sdf);
 
                if (sensor)
                {
                  std::unique_ptr<T> result(
                      dynamic_cast<T *>(sensor.release()));
 
                  if (!result)
                    ignerr << "SDF sensor type does not match template type\n";
 
                  return result;
                }
 
                ignerr << "Failed to create sensor of type["
                       << _sdf.TypeStr() << "]\n";
                return nullptr;
              }
 
      public: template<typename T>
              std::unique_ptr<T> CreateSensor(sdf::ElementPtr _sdf)
              {
                auto sensor = SensorFactory::CreateSensor(_sdf);
 
                if (sensor)
                {
                  std::unique_ptr<T> result(
                      dynamic_cast<T *>(sensor.release()));
 
                  if (!result)
                    ignerr << "SDF sensor type does not match template type\n";
 
                  return result;
                }
 
                ignerr << "Failed to create sensor of type["
                       << _sdf->Get<std::string>("type") << "]\n";
                return nullptr;
              }
 
      public: std::unique_ptr<Sensor> CreateSensor(sdf::ElementPtr _sdf);
 
      public: std::unique_ptr<Sensor> CreateSensor(const sdf::Sensor &_sdf);
 
      public: void AddPluginPaths(const std::string &_path);
 
      private: std::shared_ptr<SensorPlugin> LoadSensorPlugin(
          const std::string &_filename);
 
      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<SensorFactoryPrivate> dataPtr;
      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
    };
 
    #define IGN_SENSORS_REGISTER_SENSOR(classname) \
    IGN_COMMON_REGISTER_SINGLE_PLUGIN(\
       gz::sensors::SensorTypePlugin<classname>, \
       gz::sensors::SensorPlugin)
    }
  }
}
 
#endif