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17 #ifndef GZ_GAZEBO_EVENTMANAGER_HH_
18 #define GZ_GAZEBO_EVENTMANAGER_HH_
23 #include <unordered_map>
26 #include <gz/common/Console.hh>
27 #include <gz/common/Event.hh>
29 #include <gz/sim/config.hh>
30 #include <gz/sim/Export.hh>
38 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
63 public:
template <
typename E>
64 gz::common::ConnectionPtr
65 Connect(
const typename E::CallbackT &_subscriber)
67 if (this->events.find(
typeid(E)) == this->events.end()) {
68 this->events[
typeid(E)] = std::make_unique<E>();
71 E *eventPtr =
dynamic_cast<E *
>(this->events[
typeid(E)].get());
74 if (eventPtr !=
nullptr)
76 return eventPtr->Connect(_subscriber);
80 ignerr <<
"Failed to connect event: "
89 public:
template <
typename E,
typename ... Args>
90 void Emit(Args && ... _args)
92 if (this->events.find(
typeid(E)) == this->events.end())
99 this->events[
typeid(E)] = std::make_unique<E>();
103 E *eventPtr =
dynamic_cast<E *
>(this->events[
typeid(E)].get());
106 if (eventPtr !=
nullptr)
108 eventPtr->Signal(std::forward<Args>(_args) ...);
112 ignerr <<
"Failed to signal event: "
122 private:
struct Hasher
126 return _code.get().hash_code();
131 private:
struct EqualTo
133 bool operator()(TypeInfoRef _lhs, TypeInfoRef _rhs)
const
135 return _lhs.get() == _rhs.get();
142 Hasher, EqualTo> events;
148 #endif // GZ_GAZEBO_EVENTMANAGER_HH_
EventManager()
Constructor.
This library is part of the Ignition Robotics project.
class IGNITION_GAZEBO_HIDDEN EventManagerPrivate
Definition: gz/sim/EventManager.hh:40
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:50
~EventManager()
Destructor.
void Emit(Args &&... _args)
Emit an event signal to connected subscribers.
Definition: gz/sim/EventManager.hh:90
gz::common::ConnectionPtr Connect(const typename E::CallbackT &_subscriber)
Add a connection to an event.
Definition: gz/sim/EventManager.hh:65