Broker.hh

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/*
 * Copyright (C) 2022 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_SIM_BROKER_HH_
#define GZ_SIM_BROKER_HH_
 
#include <memory>
 
#include <gz/utils/ImplPtr.hh>
#include <sdf/sdf.hh>
#include "gz/sim/comms/MsgManager.hh"
#include "gz/sim/config.hh"
 
namespace gz
{
namespace msgs
{
  // Forward declarations.
  class Boolean;
  class Dataframe;
  class StringMsg_V;
}
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace comms
{
  // Forward declarations.
  class MsgManager;
 
  class GZ_SIM_VISIBLE Broker
  {
    public: Broker();
 
    public: void Load(std::shared_ptr<const sdf::Element> _sdf);
 
    public: void Start();
 
    public: std::chrono::steady_clock::duration Time() const;
 
    public: void SetTime(const std::chrono::steady_clock::duration &_time);
 
    public: bool OnBind(const gz::msgs::StringMsg_V &_req,
                        gz::msgs::Boolean &_rep);
 
    public: void OnUnbind(const gz::msgs::StringMsg_V &_req);
 
    public: void OnMsg(const gz::msgs::Dataframe &_msg);
 
    public: void DeliverMsgs();
 
    public: MsgManager &DataManager();
 
    public: void Lock();
 
    public: void Unlock();
 
   GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };
}
}
}
}
 
#endif