Gazebo Sim
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10.0.0~pre1
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src
gz-sim
include
gz
sim
System.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2018 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_SIM_SYSTEM_HH_
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#define GZ_SIM_SYSTEM_HH_
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#include <cstdint>
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#include <memory>
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#include <gz/sim/config.hh>
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#include <
gz/sim/EntityComponentManager.hh
>
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#include <
gz/sim/EventManager.hh
>
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#include <gz/sim/Export.hh>
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#include <
gz/sim/Types.hh
>
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#include <
gz/transport/parameters/Registry.hh
>
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#include <sdf/Element.hh>
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namespace
gz
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{
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namespace
sim
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_SIM_VERSION_NAMESPACE {
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namespace
systems {}
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class
System
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{
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public
:
using
PriorityType
= int32_t;
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public
:
constexpr
static
PriorityType
kDefaultPriority = {0};
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public
:
constexpr
static
std::string_view kPriorityElementName =
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{
"gz:system_priority"
};
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public
:
System
() =
default
;
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public
:
virtual
~System
() =
default
;
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};
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namespace
systems
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{
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constexpr
System::PriorityType
kUserCommandsPriority
= -16384;
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constexpr
System::PriorityType
kPrePhysicsPriority
= -128;
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constexpr
System::PriorityType
kPhysicsPriority
= -64;
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constexpr
System::PriorityType
kPostPhysicsSensorPriority
= -32;
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}
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class
ISystemConfigure
{
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public
:
virtual
~ISystemConfigure
() =
default
;
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public
:
virtual
void
Configure
(
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const
Entity
&_entity,
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const
std::shared_ptr<const sdf::Element>
&_sdf,
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EntityComponentManager
&_ecm,
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EventManager
&_eventMgr) = 0;
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};
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class
ISystemConfigurePriority
{
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public
:
virtual
~ISystemConfigurePriority
() =
default
;
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public
:
virtual
System::PriorityType
ConfigurePriority
() = 0;
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};
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class
ISystemConfigureParameters
{
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public
:
virtual
~ISystemConfigureParameters
() =
default
;
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public
:
virtual
void
ConfigureParameters
(
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gz::transport::parameters::ParametersRegistry &_registry,
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EntityComponentManager
&_ecm) = 0;
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};
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class
ISystemReset
{
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public
:
virtual
~ISystemReset
() =
default
;
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public
:
virtual
void
Reset
(
const
UpdateInfo
&_info,
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EntityComponentManager
&_ecm) = 0;
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};
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class
ISystemPreUpdate
{
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public
:
virtual
~ISystemPreUpdate
() =
default
;
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public
:
virtual
void
PreUpdate
(
const
UpdateInfo
&_info,
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EntityComponentManager
&_ecm) = 0;
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};
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class
ISystemUpdate
{
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public
:
virtual
~ISystemUpdate
() =
default
;
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public
:
virtual
void
Update
(
const
UpdateInfo
&_info,
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EntityComponentManager
&_ecm) = 0;
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};
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class
ISystemPostUpdate
{
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public
:
virtual
~ISystemPostUpdate
() =
default
;
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public
:
virtual
void
PostUpdate
(
const
UpdateInfo
&_info,
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const
EntityComponentManager
&_ecm) = 0;
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};
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}
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}
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}
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#endif