EventSource.hh

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/*
 * Copyright (C) 2014-2016 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_PLUGIN_EVENTSOURCE_HH_
#define _GAZEBO_PLUGIN_EVENTSOURCE_HH_

#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
#include <Winsock2.h>
#endif

#include <string>

#include "gazebo/gazebo.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/common/common.hh"
#include "gazebo/transport/TransportTypes.hh"

#include "SimEventsException.hh"

namespace gazebo
{
  class EventSource
  {
    public: EventSource(transport::PublisherPtr _pub,
                        const std::string &_type,
                        physics::WorldPtr _world);

    public: virtual ~EventSource();

    public: void Emit(const std::string& _data) const;

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

    public: virtual void Init();

    public: virtual bool IsActive() const;

    protected: std::string name;

    protected: std::string type;

    protected: physics::WorldPtr world;

    protected: bool active;

    protected: transport::PublisherPtr pub;
  };

  typedef boost::shared_ptr<EventSource> EventSourcePtr;

  class SimEventConnector
  {
    public: template<typename T>
        static event::ConnectionPtr
            ConnectSpawnModel(T _subscriber)
      { return spawnModel.Connect(_subscriber); }

    public: static void DisconnectSpawnModel(
        event::ConnectionPtr _subscriber)
      { spawnModel.Disconnect(_subscriber); }

    public: static event::EventT<void (std::string, bool)> spawnModel;
  };
}

#endif