TriggeredPublisher.hh

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/*
 * Copyright (C) 2020 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 IGNITION_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_
#define IGNITION_GAZEBO_SYSTEMS_TRIGGEREDPUBLISHER_HH_

#include <memory>
#include <string>
#include <vector>

#include <ignition/transport/Node.hh>
#include "ignition/gazebo/System.hh"

namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
  // Forward declaration
  class InputMatcher;

  class TriggeredPublisher : public System,
                             public ISystemConfigure,
                             public ISystemPreUpdate
  {
    public: TriggeredPublisher() = default;

    public: ~TriggeredPublisher() override;

    // Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) override;

    // Documentation inherited
    public: void PreUpdate(
                const ignition::gazebo::UpdateInfo &_info,
                ignition::gazebo::EntityComponentManager &_ecm) override;

    public: void DoWork();

    public: bool MatchInput(const transport::ProtoMsg &_inputMsg);

    private: std::string inputMsgType;

    private: std::string inputTopic;

    private: struct OutputInfo
    {
      std::string msgType;

      std::string topic;

      transport::ProtoMsgPtr msgData;

      transport::Node::Publisher pub;
    };

    private: std::vector<std::unique_ptr<InputMatcher>> matchers;

    private: std::vector<OutputInfo> outputInfo;

    private: transport::Node node;

    private: std::size_t publishCount{0};

    private: std::mutex publishCountMutex;

    private: std::condition_variable newMatchSignal;

    private: std::thread workerThread;

    private: std::atomic<bool> done{false};

    private: std::chrono::steady_clock::duration delay{0};

    private: std::vector<std::chrono::steady_clock::duration> publishQueue;

    private: std::mutex publishQueueMutex;
  };
  }
}
}
}

#endif