Gazebo Gazebo

API Reference

3.15.1
TriggeredPublisher.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GZ_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_
18 #define GZ_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <vector>
23 
24 #include <gz/transport/Node.hh>
25 #include "gz/sim/System.hh"
26 
27 namespace ignition
28 {
29 namespace gazebo
30 {
31 // Inline bracket to help doxygen filtering.
32 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
33 namespace systems
34 {
35  // Forward declaration
36  class InputMatcher;
37 
158  public System,
159  public ISystemConfigure
160  {
162  public: TriggeredPublisher() = default;
163 
165  public: ~TriggeredPublisher() override;
166 
167  // Documentation inherited
168  public: void Configure(const Entity &_entity,
171  EventManager &_eventMgr) override;
172 
174  public: void DoWork();
175 
179  public: bool MatchInput(const transport::ProtoMsg &_inputMsg);
180 
182  private: std::string inputMsgType;
183 
185  private: std::string inputTopic;
186 
188  private: struct OutputInfo
189  {
191  std::string msgType;
192 
194  std::string topic;
195 
198  transport::ProtoMsgPtr msgData;
199 
202  };
203 
206 
208  private: std::vector<OutputInfo> outputInfo;
209 
211  private: transport::Node node;
212 
214  private: std::size_t publishCount{0};
215 
217  private: std::mutex publishCountMutex;
218 
220  private: std::condition_variable newMatchSignal;
221 
223  private: std::thread workerThread;
224 
227  private: std::atomic<bool> done{false};
228  };
229  }
230 }
231 }
232 }
233 
234 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:59
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
This library is part of the Ignition Robotics project.
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:65
STL class.
google::protobuf::Message ProtoMsg
STL class.
void DoWork()
Thread that handles publishing output messages.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:50
The triggered publisher system publishes a user specified message on an output topic in response to a...
Definition: TriggeredPublisher.hh:157
STL class.
bool MatchInput(const transport::ProtoMsg &_inputMsg)
Helper function that calls Match on every InputMatcher available.
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:88
Base class for a System.
Definition: gz/sim/System.hh:73
STL class.