ModelDatabase.hh

Go to the documentation of this file.

/*
 * Copyright 2012 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_MODELDATABSE_HH_
#define _GAZEBO_MODELDATABSE_HH_

#include <string>
#include <map>
#include <list>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include "gazebo/common/SingletonT.hh"
#include "gazebo/common/CommonTypes.hh"

#define GZ_MODEL_MANIFEST_FILENAME "model.config"

#define GZ_MODEL_DB_MANIFEST_FILENAME "database.config"

namespace gazebo
{
  namespace common
  {

    class ModelDatabase : public SingletonT<ModelDatabase>
    {
      private: ModelDatabase();

      private: virtual ~ModelDatabase();

      public: void Start(bool _fetchImmediately = false);

      public: void Fini();

      public: std::string GetURI();

      public: std::map<std::string, std::string> GetModels();

      public: void GetModels(boost::function<
                  void (const std::map<std::string, std::string> &)> _func);

      public: std::string GetModelName(const std::string &_uri);

      public: std::string GetModelConfig(const std::string &_uri);

      public: std::string GetDBConfig(const std::string &_uri);

      public: std::string GetModelPath(const std::string &_uri,
                  bool _forceDownload = false);

      public: std::string GetModelFile(const std::string &_uri);

      public: void DownloadDependencies(const std::string &_path);

      public: bool HasModel(const std::string &_modelName);

      private: std::string GetManifestImpl(const std::string &_uri);

      private: void UpdateModelCache(bool _fetchImmediately);

      private: bool UpdateModelCacheImpl();

      private: boost::thread *updateCacheThread;

      private: std::map<std::string, std::string> modelCache;

      private: bool stop;

      private: boost::mutex updateMutex;

      private: boost::recursive_mutex startCacheMutex;

      private: boost::condition_variable updateCacheCondition;

      private: boost::condition_variable updateCacheCompleteCondition;

      private: typedef boost::function<
               void (const std::map<std::string, std::string> &)> CallbackFunc;

      private: std::list<CallbackFunc> callbacks;

      private: static ModelDatabase *myself;

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