SensorManager.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * 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.
 *
*/
/*
 * Desc: Class to manager all sensors
 * Author: Nate Koenig
 * Date: 18 Dec 2009
 */

#ifndef _SENSORMANAGER_HH_
#define _SENSORMANAGER_HH_

#include <boost/thread.hpp>
#include <string>
#include <vector>

#include "common/SingletonT.hh"
#include "sensors/SensorTypes.hh"
#include "sdf/sdf.hh"

namespace gazebo
{
  namespace sensors
  {
    class SensorManager : public SingletonT<SensorManager>
    {
      private: SensorManager();

      private: virtual ~SensorManager();

      public: void Update(bool _force = false);

      public: void Init();

      public: void Run();

      public: void Stop();

      public: void Fini();

      public: void GetSensorTypes(std::vector<std::string> &_types) const;

      public: std::string CreateSensor(sdf::ElementPtr _elem,
                                       const std::string &_worldName,
                                       const std::string &_parentName);

      public: SensorPtr GetSensor(const std::string &_name);

      public: Sensor_V GetSensors() const;

      public: void RemoveSensor(const std::string &_name);

      public: void RemoveSensors();

      public: bool SensorsInitialized();

      private: void RunLoop();

      private: bool stop;

      private: bool initialized;

      private: boost::thread *runThread;

      private: boost::recursive_mutex mutex;

      private: Sensor_V sensors;

      private: Sensor_V initSensors;

      private: friend class SingletonT<SensorManager>;
    };
  }
}
#endif