Sensor.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_SENSOR_HH_
#define GZ_SENSORS_SENSOR_HH_
 
#ifdef _WIN32
#pragma warning(push)
#pragma warning(disable: 4005)
#pragma warning(disable: 4251)
#endif
#include <gz/msgs/header.pb.h>
#ifdef _WIN32
#pragma warning(pop)
#endif
 
#include <chrono>
#include <memory>
#include <string>
 
#include <gz/utils/SuppressWarning.hh>
#include <gz/math/Pose3.hh>
#include <gz/sensors/config.hh>
#include <gz/sensors/Export.hh>
#include <sdf/sdf.hh>
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
    //
    using SensorId = std::size_t;
    const SensorId NO_SENSOR = 0;
 
    class SensorPrivate;
 
    class GZ_SENSORS_VISIBLE Sensor
    {
      protected: Sensor();
 
      public: virtual ~Sensor();
 
      public: virtual bool Load(const sdf::Sensor &_sdf);
 
      public: virtual bool Load(sdf::ElementPtr _sdf);
 
      public: virtual bool Init();
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) = 0;
 
      public: std::chrono::steady_clock::duration NextDataUpdateTime() const;
 
      public: void SetNextDataUpdateTime(
                  const std::chrono::steady_clock::duration &_time);
 
      public: bool Update(
        const std::chrono::steady_clock::duration &_now, const bool _force);
 
      public: double UpdateRate() const;
 
      public: void SetUpdateRate(const double _hz);
 
      public: gz::math::Pose3d Pose() const;
 
      public: void SetPose(const gz::math::Pose3d &_pose);
 
      public: virtual void SetParent(const std::string &_parent);
 
      public: std::string Name() const;
 
      public: std::string FrameId() const;
 
      public: void SetFrameId(const std::string &_frameId);
 
      public: std::string Topic() const;
 
      public: bool SetTopic(const std::string &_topic);
 
      public: bool EnableMetrics() const;
 
      public: void SetEnableMetrics(bool _enableMetrics);
 
      public: std::string Parent() const;
 
      public: SensorId Id() const;
 
      public: sdf::ElementPtr SDF() const;
 
      public: void AddSequence(gz::msgs::Header *_msg,
                  const std::string &_seqKey = "default");
 
      public: void PublishMetrics(
        const std::chrono::duration<double> &_now);
 
      public: bool IsActive() const;
 
      public: void SetActive(bool _active);
 
      public: virtual bool HasConnections() const;
 
      public: bool SetTriggered(bool _triggered,
                                const std::string &_triggerTopic = "");
 
      public: bool HasPendingTrigger() const;
 
      public: bool IsTriggered() const;
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<SensorPrivate> dataPtr;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
#endif