System.hh

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/*
 * Copyright (C) 2018 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_SYSTEM_HH_
#define GZ_SIM_SYSTEM_HH_
 
#include <cstdint>
#include <memory>
 
#include <gz/sim/config.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/EventManager.hh>
#include <gz/sim/Export.hh>
#include <gz/sim/Types.hh>
 
#include <gz/transport/parameters/Registry.hh>
 
#include <sdf/Element.hh>
 
namespace gz
{
  namespace sim
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SIM_VERSION_NAMESPACE {
    namespace systems {}
 
    class System
    {
      public: using PriorityType = int32_t;
 
      public: constexpr static PriorityType kDefaultPriority = {0};
 
      public: constexpr static std::string_view kPriorityElementName =
          {"gz:system_priority"};
 
      public: System() = default;
 
      public: virtual ~System() = default;
    };
 
    namespace systems
    {
      constexpr System::PriorityType kUserCommandsPriority = -16384;
 
      constexpr System::PriorityType kPrePhysicsPriority = -128;
 
      constexpr System::PriorityType kPhysicsPriority = -64;
 
      constexpr System::PriorityType kPostPhysicsSensorPriority = -32;
    }
 
    class ISystemConfigure {
      public: virtual void Configure(
                  const Entity &_entity,
                  const std::shared_ptr<const sdf::Element> &_sdf,
                  EntityComponentManager &_ecm,
                  EventManager &_eventMgr) = 0;
    };
 
    class ISystemConfigurePriority {
      public: virtual System::PriorityType ConfigurePriority() = 0;
    };
 
    class ISystemConfigureParameters {
      public: virtual void ConfigureParameters(
                  gz::transport::parameters::ParametersRegistry &_registry,
                  EntityComponentManager &_ecm) = 0;
    };
 
 
    class ISystemReset {
      public: virtual void Reset(const UpdateInfo &_info,
                                 EntityComponentManager &_ecm) = 0;
    };
 
    class ISystemPreUpdate {
      public: virtual void PreUpdate(const UpdateInfo &_info,
                                     EntityComponentManager &_ecm) = 0;
    };
 
    class ISystemUpdate {
      public: virtual void Update(const UpdateInfo &_info,
                                  EntityComponentManager &_ecm) = 0;
    };
 
    class ISystemPostUpdate{
      public: virtual void PostUpdate(const UpdateInfo &_info,
                                      const EntityComponentManager &_ecm) = 0;
    };
  }
  }
}
#endif