Manager.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2017 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_SENSORS_MANAGER_HH_
#define IGNITION_SENSORS_MANAGER_HH_

#include <memory>
#include <string>
#include <utility>
#include <type_traits>
#include <vector>
#include <sdf/sdf.hh>
#include <ignition/common/SuppressWarning.hh>
#include <ignition/common/Console.hh>
#include <ignition/sensors/config.hh>
#include <ignition/sensors/Export.hh>
#include <ignition/sensors/Sensor.hh>
#include <ignition/sensors/SensorFactory.hh>

namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    // Forward declarations
    class ManagerPrivate;

    class IGNITION_SENSORS_VISIBLE Manager
    {
      public: Manager();

      public: virtual ~Manager();

      public: bool Init();

      public: template<typename SensorType, typename SdfType>
              SensorType *CreateSensor(SdfType _sdf)
              {
                SensorFactory sensorFactory;
                auto sensor = sensorFactory.CreateSensor<SensorType>(_sdf);
                if (nullptr == sensor)
                {
                  ignerr << "Failed to create sensor." << std::endl;
                  return nullptr;
                }
                auto result = sensor.get();
                if (NO_SENSOR == this->AddSensor(std::move(sensor)))
                {
                  ignerr << "Failed to add sensor." << std::endl;
                  return nullptr;
                }
                return result;
              }

      public: ignition::sensors::SensorId IGN_DEPRECATED(6) CreateSensor(
          sdf::ElementPtr _sdf);

      public: ignition::sensors::SensorId IGN_DEPRECATED(6) CreateSensor(
          const sdf::Sensor &_sdf);

      public: SensorId AddSensor(std::unique_ptr<Sensor> _sensor);

      public: ignition::sensors::Sensor *Sensor(
                  ignition::sensors::SensorId _id);

      public: bool Remove(const ignition::sensors::SensorId _id);

      public: void RunOnce(const std::chrono::steady_clock::duration &_time,
                  bool _force = false);

      public: void IGN_DEPRECATED(6) AddPluginPaths(const std::string &_path);

      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<ManagerPrivate> dataPtr;
      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}

#endif