AcousticComms.hh

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/*
 * Copyright (C) 2022 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.
 *
 */
 
/*
 * Development of this module has been funded by the Monterey Bay Aquarium
 * Research Institute (MBARI) and the David and Lucile Packard Foundation
 */
#ifndef GZ_SIM_SYSTEMS_ACOUSTICCOMMS_HH_
#define GZ_SIM_SYSTEMS_ACOUSTICCOMMS_HH_
 
#include <memory>
#include <string>
#include <tuple>
#include <unordered_map>
 
#include <sdf/sdf.hh>
#include <gz/math/Rand.hh>
#include "gz/sim/comms/ICommsModel.hh"
#include <gz/sim/System.hh>
#include <gz/sim/Entity.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/EventManager.hh>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
 
  class AcousticComms:
    public gz::sim::comms::ICommsModel
  {
    public: explicit AcousticComms();
 
    // Documentation inherited.
    public: void Load(const gz::sim::Entity &_entity,
                        std::shared_ptr<const sdf::Element> _sdf,
                        gz::sim::EntityComponentManager &_ecm,
                        gz::sim::EventManager &_eventMgr) override;
 
    // Documentation inherited.
    public: void Step(const gz::sim::UpdateInfo &_info,
                        const gz::sim::comms::Registry &_currentRegistry,
                        gz::sim::comms::Registry &_newRegistry,
                        gz::sim::EntityComponentManager &_ecm) override;
 
    // Impl pointer
    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };
}
}
}
}
 
#endif