src/systems/detachable_joint/DetachableJoint.hh

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/*
 * Copyright (C) 2019 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_SYSTEMS_DETACHABLEJOINT_HH_
#define GZ_SIM_SYSTEMS_DETACHABLEJOINT_HH_
 
#include <gz/msgs/empty.pb.h>
 
#include <memory>
#include <string>
#include <gz/transport/Node.hh>
 
#include "gz/sim/Model.hh"
#include "gz/sim/System.hh"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
 
  class DetachableJoint
      : public System,
        public ISystemConfigure,
        public ISystemPreUpdate
  {
    public: DetachableJoint() = default;
 
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) final;
 
    public: void PreUpdate(
                const gz::sim::UpdateInfo &_info,
                gz::sim::EntityComponentManager &_ecm) final;
 
    private: transport::Node node;
 
    private: transport::Node::Publisher outputPub;
 
    private: void PublishJointState(bool attached);
 
    private: void OnDetachRequest(const msgs::Empty &_msg);
 
    private: void GetChildModelAndLinkEntities(
      gz::sim::EntityComponentManager &_ecm);
 
    private: Model model;
 
    private: std::string childModelName;
 
    private: std::string childLinkName;
 
    private: std::string detachTopic;
 
    private: std::string attachTopic;
 
    private: std::string outputTopic;
 
    private: bool suppressChildWarning{false};
 
    private: Entity parentLinkEntity{kNullEntity};
 
    private: Entity childLinkEntity{kNullEntity};
 
    private: Entity detachableJointEntity{kNullEntity};
 
    private: std::atomic<bool> detachRequested{false};
 
    private: std::atomic<bool> attachRequested{true};
 
    private: std::atomic<bool> isAttached{false};
 
    private: bool validConfig{false};
 
  };
  }
}
}
}
 
#endif