RestWebPlugin.hh

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/*
 * Copyright (C) 2015 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 GAZEBO_PLUGINS_REST_WEB_RESTWEBPLUGIN_HH_
#define GAZEBO_PLUGINS_REST_WEB_RESTWEBPLUGIN_HH_

#include <list>
#include <mutex>
#include <vector>
#include <string>
#include <thread>

#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>

#include "RestApi.hh"

namespace gazebo
{
  class GZ_PLUGIN_VISIBLE RestWebPlugin : public SystemPlugin
  {
    public: RestWebPlugin();

    public: virtual ~RestWebPlugin();

    public: virtual void Load(int _argc, char **_argv);

    public: void OnRestLoginRequest(ConstRestLoginPtr &_msg);

    public: void OnRestLogoutRequest(ConstRestLogoutPtr &_msg);

    public: void OnEventRestPost(ConstRestPostPtr &_msg);

    public: void OnSimEvent(ConstSimEventPtr &_msg);

    private: virtual void Init();

    private: void RunRequestQ();

    private: void ProcessLoginRequest(ConstRestLoginPtr _msg);

    private: gazebo::transport::NodePtr node;

    private: gazebo::transport::SubscriberPtr subLogin;

    private: gazebo::transport::SubscriberPtr subLogout;

    private: gazebo::transport::SubscriberPtr subEvent;

    private: gazebo::transport::SubscriberPtr subSimEvent;

    private: gazebo::transport::PublisherPtr pub;

    private: std::vector<event::ConnectionPtr> connections;

    private: RestApi restApi;

    private: bool stopMsgProcessing;

    private: std::list<boost::shared_ptr<const gazebo::msgs::RestLogin>>
        msgLoginQ;

    private: std::thread *requestQThread;

    private: std::mutex requestQMutex;

    private: std::string session;
  };
}

#endif