TriggeredPublisher.hh

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/*
 * Copyright (C) 2020 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_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_
#define GZ_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_
 
#include <memory>
#include <string>
#include <vector>
#include <mutex>
#include <gz/transport/Node.hh>
#include "gz/sim/System.hh"
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
  // Forward declaration
  class InputMatcher;
 
  class TriggeredPublisher : public System,
                             public ISystemConfigure,
                             public ISystemPreUpdate
  {
    public: TriggeredPublisher() = default;
 
    public: ~TriggeredPublisher() override;
 
    // Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) override;
 
    // Documentation inherited
    public: void PreUpdate(
                const ignition::gazebo::UpdateInfo &_info,
                ignition::gazebo::EntityComponentManager &_ecm) override;
 
    public: void DoWork();
 
    private: void CallService(std::size_t pendingSrv);
 
    private: void PublishMsg(std::size_t pending);
 
    public: bool MatchInput(const transport::ProtoMsg &_inputMsg);
 
    private: std::string inputMsgType;
 
    private: std::string inputTopic;
 
    private: struct OutputInfo
    {
      std::string msgType;
 
      std::string topic;
 
      transport::ProtoMsgPtr msgData;
 
      transport::Node::Publisher pub;
    };
 
    private: struct SrvOutputInfo
    {
      std::string srvName;
 
      std::string reqType;
 
      std::string repType;
 
      std::string reqMsg;
 
      int timeout;
    };
 
    private: std::vector<std::unique_ptr<InputMatcher>> matchers;
 
    private: std::vector<OutputInfo> outputInfo;
 
    private: std::vector<SrvOutputInfo> srvOutputInfo;
 
    private: transport::Node node;
 
    private: std::size_t serviceCount{0};
 
    private: std::size_t publishCount{0};
 
    private: std::mutex publishCountMutex;
 
    private: std::mutex triggerSrvMutex;
 
    private: std::condition_variable newMatchSignal;
 
    private: std::thread workerThread;
 
    private: std::atomic<bool> done{false};
 
    private: std::chrono::steady_clock::duration delay{0};
 
    private: std::vector<std::chrono::steady_clock::duration> publishQueue;
 
    private: std::mutex publishQueueMutex;
  };
}
}
}
}
#endif