gz/sim/components/Actor.hh

Go to the documentation of this file.

/*
 * 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_COMPONENTS_ACTOR_HH_
#define GZ_SIM_COMPONENTS_ACTOR_HH_
 
#include <gz/msgs/actor.pb.h>
 
#include <chrono>
#include <ratio>
#include <string>
 
#include <sdf/Actor.hh>
 
#include <gz/sim/components/Factory.hh>
#include <gz/sim/components/Component.hh>
#include <gz/sim/components/Serialization.hh>
#include <gz/sim/Conversions.hh>
#include <gz/sim/config.hh>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace serializers
{
  using ActorSerializer =
      serializers::ComponentToMsgSerializer<sdf::Actor, msgs::Actor>;
 
  class AnimationTimeSerializer
  {
    public: static std::ostream &Serialize(std::ostream &_out,
                const std::chrono::steady_clock::duration &_time)
    {
      _out << std::chrono::duration_cast<std::chrono::nanoseconds>(
          _time).count();
      return _out;
    }
 
    public: static std::istream &Deserialize(std::istream &_in,
                std::chrono::steady_clock::duration &_time)
    {
      int64_t time;
      _in >> time;
      _time = std::chrono::duration<int64_t, std::nano>(time);
      return _in;
    }
  };
}
 
namespace components
{
  using Actor =
      Component<sdf::Actor, class ActorTag, serializers::ActorSerializer>;
  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Actor", Actor)
 
  
  using AnimationTime = Component<std::chrono::steady_clock::duration,
      class AnimationTimeTag, serializers::AnimationTimeSerializer>;
  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AnimationTime",
      AnimationTime)
 
  using AnimationName = Component<std::string, class AnimationNameTag,
      serializers::StringSerializer>;
  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.AnimationName",
      AnimationName)
}
}
}
}
 
#endif