Server.hh

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/*
 * Copyright (C) 2018 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_SERVER_HH_
#define GZ_SIM_SERVER_HH_
 
#include <cstdint>
#include <memory>
#include <optional>
#include <string>
#include <gz/sim/config.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/Export.hh>
#include <gz/sim/ServerConfig.hh>
#include <gz/sim/SystemPluginPtr.hh>
#include <sdf/Element.hh>
#include <sdf/Plugin.hh>
 
namespace gz
{
  namespace sim
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SIM_VERSION_NAMESPACE {
    // Forware declarations
    class ServerPrivate;
 
    class GZ_SIM_VISIBLE Server
    {
      public: enum class Status {
        EXITED,
        STOPPED,
        RUNNING
      };
 
      public: explicit Server(const ServerConfig &_config = ServerConfig());
 
      public: ~Server();
 
      public: void SetUpdatePeriod(
                  const std::chrono::steady_clock::duration &_updatePeriod,
                  const unsigned int _worldIndex = 0);
 
      public: bool Run(const bool _blocking = false,
                       const uint64_t _iterations = 0,
                       const bool _paused = true);
 
      public: bool RunOnce(const bool _paused = true);
 
      public: bool Running() const;
 
      public: std::optional<bool> Running(const unsigned int _worldIndex) const;
 
      public: bool SetPaused(const bool _paused,
                  const unsigned int _worldIndex = 0) const;
 
      public: std::optional<bool> Paused(
                  const unsigned int _worldIndex = 0) const;
 
      public: std::optional<uint64_t> IterationCount(
                  const unsigned int _worldIndex = 0) const;
 
      public: std::optional<size_t> EntityCount(
                  const unsigned int _worldIndex = 0) const;
 
      public: std::optional<size_t> SystemCount(
                  const unsigned int _worldIndex = 0) const;
 
      public: std::optional<bool> AddSystem(
                  const SystemPluginPtr &_system,
                  const unsigned int _worldIndex = 0);
 
      public: std::optional<bool> AddSystem(
                  const SystemPluginPtr &_system,
                  std::optional<Entity> _entity,
                  std::optional<std::shared_ptr<const sdf::Element>> _sdf,
                  const unsigned int _worldIndex = 0);
 
      public: std::optional<bool> AddSystem(
                  const sdf::Plugin &_plugin,
                  std::optional<Entity> _entity,
                  const unsigned int _worldIndex = 0);
 
      public: std::optional<bool> AddSystem(
                  const std::shared_ptr<System> &_system,
                  const unsigned int _worldIndex = 0);
 
      public: std::optional<bool> AddSystem(
                  const std::shared_ptr<System> &_system,
                  std::optional<Entity> _entity,
                  std::optional<std::shared_ptr<const sdf::Element>> _sdf,
                  const unsigned int _worldIndex = 0);
 
      public: std::optional<Entity> EntityByName(const std::string &_name,
                  const unsigned int _worldIndex = 0) const;
 
      public: bool HasEntity(const std::string &_name,
                             const unsigned int _worldIndex = 0) const;
 
      public: bool RequestRemoveEntity(const std::string &_name,
                                      bool _recursive = true,
                                      const unsigned int _worldIndex = 0);
 
      public: bool RequestRemoveEntity(const Entity _entity,
                                      bool _recursive = true,
                                      const unsigned int _worldIndex = 0);
 
      public: void Stop();
 
      public: void ResetAll();
      public: bool Reset(const std::size_t _runnerId);
 
      public: Status GetStatus() const;
 
      private: std::unique_ptr<ServerPrivate> dataPtr;
    };
    }
  }
}
 
#endif