SensorManager.hh

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/*
 * Copyright (C) 2012-2016 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_SENSORMANAGER_HH_
#define _GAZEBO_SENSORMANAGER_HH_

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

#include <sdf/sdf.hh>

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/common/SingletonT.hh"
#include "gazebo/common/UpdateInfo.hh"
#include "gazebo/sensors/SensorTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {
    class GAZEBO_VISIBLE SimTimeEvent
    {
      public: common::Time time;

      public: boost::condition_variable *condition;
    };

    class GAZEBO_VISIBLE SimTimeEventHandler
    {
      public: SimTimeEventHandler();

      public: virtual ~SimTimeEventHandler();

      public: void AddRelativeEvent(const common::Time &_time,
                  boost::condition_variable *_var);

      private: void OnUpdate(const common::UpdateInfo &_info);

      private: boost::mutex mutex;

      private: std::list<SimTimeEvent*> events;

      private: event::ConnectionPtr updateConnection;
    };

    class GAZEBO_VISIBLE SensorManager : public SingletonT<SensorManager>
    {
      private: SensorManager();

      private: virtual ~SensorManager();

      public: void Update(bool _force = false);

      public: void Init();

      public: void RunThreads();

      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,
                                       uint32_t _parentId);

      public: void OnCreateSensor(sdf::ElementPtr _elem,
                                  const std::string &_worldName,
                                  const std::string &_parentName,
                                  const uint32_t _parentId);

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

      public: Sensor_V GetSensors() const;

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

      public: void RemoveSensors();

      public: bool SensorsInitialized();

      public: void ResetLastUpdateTimes();

      private: void AddSensor(SensorPtr _sensor);

      private: class SensorContainer
               {
                 public: SensorContainer();

                 public: virtual ~SensorContainer();

                 public: void Init();

                 public: void Fini();

                 public: void Run();

                 public: void Stop();

                 public: virtual void Update(bool _force = false);

                 public: void AddSensor(SensorPtr _sensor);

                 public: SensorPtr GetSensor(const std::string &_name,
                                             bool _useLeafName = false) const;

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

                 public: void RemoveSensors();

                 public: void ResetLastUpdateTimes();

                 private: void RunLoop();

                 public: Sensor_V sensors;

                 private: bool stop;

                 private: bool initialized;

                 private: boost::thread *runThread;

                 private: mutable boost::recursive_mutex mutex;

                 private: boost::condition_variable runCondition;
               };

      private: class ImageSensorContainer : public SensorContainer
               {
                 public: virtual void Update(bool _force = false);
               };

      private: bool initialized;

      private: bool removeAllSensors;

      private: mutable boost::recursive_mutex mutex;

      private: Sensor_V initSensors;

      private: std::vector<std::string> removeSensors;

      private: typedef std::vector<SensorContainer*> SensorContainer_V;

      private: SensorContainer_V sensorContainers;

      private: friend class SingletonT<SensorManager>;

      private: friend class SensorContainer;

      private: SimTimeEventHandler *simTimeEventHandler;

      private: std::map<std::string, physics::WorldPtr> worlds;

      private: event::ConnectionPtr timeResetConnection;

      private: event::ConnectionPtr createSensorConnection;

      private: event::ConnectionPtr removeSensorConnection;
    };
  }
}
#endif