Sensor.hh

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/*
 * Copyright (C) 2012-2015 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_SENSOR_HH_
#define _GAZEBO_SENSOR_HH_

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

#include <sdf/sdf.hh>
#include <ignition/math/Pose3.hh>

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/sensors/SensorTypes.hh"

#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/Events.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {
    enum SensorCategory
    {
      // IMAGE must be the first element, and it must start with 0. Do not
      // change this! See SensorManager::sensorContainers for reference.
      IMAGE = 0,

      RAY = 1,

      OTHER = 2,

      CATEGORY_COUNT = 3
    };


    class GAZEBO_VISIBLE Sensor : public boost::enable_shared_from_this<Sensor>
    {
      public: explicit Sensor(SensorCategory _cat);

      public: virtual ~Sensor();

      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr _sdf);

      public: virtual void Load(const std::string &_worldName);

      public: virtual void Init();

      public: void SetParent(const std::string &_name, uint32_t _id);

      public: std::string GetParentName() const;

      public: void Update(bool _force);

      protected: virtual bool UpdateImpl(bool /*_force*/) {return false;}

      public: double GetUpdateRate();

      public: void SetUpdateRate(double _hz);

      public: virtual void Fini();

      public: std::string GetName() const;

      public: std::string GetScopedName() const;

      public: virtual math::Pose GetPose() const GAZEBO_DEPRECATED(6.0);

      public: virtual ignition::math::Pose3d Pose() const;

      public: virtual void SetActive(bool _value);

      public: virtual bool IsActive();

      public: std::string GetType() const;

      public: common::Time GetLastUpdateTime();

      public: common::Time GetLastMeasurementTime();

      public: bool GetVisualize() const;

      public: virtual std::string GetTopic() const;

      public: void FillMsg(msgs::Sensor &_msg);

      public: std::string GetWorldName() const;

      public: template<typename T>
              event::ConnectionPtr ConnectUpdated(T _subscriber)
              {return this->updated.Connect(_subscriber);}

      public: void DisconnectUpdated(event::ConnectionPtr &_c)
              {this->updated.Disconnect(_c);}

      public: SensorCategory GetCategory() const;

      public: void ResetLastUpdateTime();

      public: uint32_t GetId() const;

      public: uint32_t GetParentId() const;

      public: NoisePtr GetNoise(unsigned int _index = 0) const
              GAZEBO_DEPRECATED(6.0);

      public: NoisePtr GetNoise(const SensorNoiseType _type) const;

      protected: bool NeedsUpdate();

      private: void LoadPlugin(sdf::ElementPtr _sdf);

      protected: bool active;

      protected: sdf::ElementPtr sdf;

      protected: ignition::math::Pose3d pose;

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

      protected: transport::NodePtr node;

      protected: transport::SubscriberPtr poseSub;

      protected: std::string parentName;

      protected: uint32_t parentId;

      protected: std::vector<SensorPluginPtr> plugins;

      protected: gazebo::physics::WorldPtr world;

      protected: gazebo::rendering::ScenePtr scene;

      protected: common::Time updatePeriod;

      protected: common::Time lastUpdateTime;

      protected: common::Time lastMeasurementTime;

      protected: std::map<int, NoisePtr> noises;

      private: boost::mutex mutexLastUpdateTime;

      private: event::EventT<void()> updated;

      private: transport::SubscriberPtr controlSub;

      private: transport::PublisherPtr sensorPub;

      private: SensorCategory category;

      private: common::Time updateDelay;

      private: uint32_t id;

      private: static sdf::ElementPtr sdfSensor;
    };
  }
}
#endif