OccupiedEventSource.hh

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/*
 * Copyright (C) 2015-2016 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_EVENTS_OCCUPIED_EVENT_SOURCE_HH_
#define _GAZEBO_PLUGINS_EVENTS_OCCUPIED_EVENT_SOURCE_HH_

#include <string>
#include <map>

#include <sdf/sdf.hh>

#include <gazebo/transport/TransportTypes.hh>

#include <gazebo/common/Plugin.hh>
#include <gazebo/util/system.hh>

#include "Region.hh"
#include "EventSource.hh"

namespace gazebo
{
  //
  class GAZEBO_VISIBLE OccupiedEventSource : public EventSource
  {
    // Documentation inherited
    public: OccupiedEventSource(transport::PublisherPtr _pub,
                physics::WorldPtr _world,
                const std::map<std::string, RegionPtr> &_regions);

    public: ~OccupiedEventSource() = default;

    // Documentation inherited
    public: virtual void Load(const sdf::ElementPtr _sdf);

    private: void Update();

    private: sdf::ElementPtr sdf;

    private: std::map<std::string, RegionPtr> regions;

    public: msgs::GzString msg;

    public: transport::PublisherPtr msgPub;

    private: event::ConnectionPtr updateConnection;

    private: transport::NodePtr node;

    private: std::string regionName;
  };
}
#endif