Manager.hh

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/*
 * 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 GZ_SENSORS_MANAGER_HH_
#define GZ_SENSORS_MANAGER_HH_
 
#include <memory>
#include <string>
#include <utility>
#include <type_traits>
#include <vector>
#include <sdf/sdf.hh>
#include <gz/utils/SuppressWarning.hh>
#include <gz/common/Console.hh>
#include <gz/sensors/config.hh>
#include <gz/sensors/Export.hh>
#include <gz/sensors/Sensor.hh>
#include <gz/sensors/SensorFactory.hh>
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    // Forward declarations
    class ManagerPrivate;
 
    class GZ_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)
                {
                  gzerr << "Failed to create sensor." << std::endl;
                  return nullptr;
                }
                auto result = sensor.get();
                if (NO_SENSOR == this->AddSensor(std::move(sensor)))
                {
                  gzerr << "Failed to add sensor." << std::endl;
                  return nullptr;
                }
                return result;
              }
 
 
      public: SensorId AddSensor(std::unique_ptr<Sensor> _sensor);
 
      public: gz::sensors::Sensor *Sensor(
                  gz::sensors::SensorId _id);
 
      public: bool Remove(const gz::sensors::SensorId _id);
 
      public: void RunOnce(const std::chrono::steady_clock::duration &_time,
                  bool _force = false);
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<ManagerPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
 
#endif