Manager.hh

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/*
 * Copyright (C) 2017 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_SENSORS_MANAGER_HH_
#define IGNITION_SENSORS_MANAGER_HH_

#include <memory>
#include <string>
#include <type_traits>
#include <vector>
#include <sdf/sdf.hh>
#include <ignition/common/Time.hh>
#include <ignition/common/Console.hh>
#include <ignition/sensors/config.hh>
#include <ignition/sensors/Export.hh>
#include <ignition/sensors/Sensor.hh>

namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    // Forward declarations
    class ManagerPrivate;

    class IGNITION_SENSORS_VISIBLE Manager
    {
      public: Manager();

      public: virtual ~Manager();

      public: bool Init();

      public: template<typename T>
              T *CreateSensor(sdf::Sensor _sdf)
              {
                ignition::sensors::SensorId id = this->CreateSensor(_sdf);

                if (id != NO_SENSOR)
                {
                  T *result = dynamic_cast<T*>(this->Sensor(id));

                  if (!result)
                    ignerr << "SDF sensor type does not match template type\n";

                  return result;
                }

                ignerr << "Failed to create sensor of type["
                       << _sdf.TypeStr() << "]\n";
                return nullptr;
              }

      public: template<typename T>
              T *CreateSensor(sdf::ElementPtr _sdf)
              {
                ignition::sensors::SensorId id = this->CreateSensor(_sdf);

                if (id != NO_SENSOR)
                {
                  T *result = dynamic_cast<T*>(this->Sensor(id));

                  if (nullptr == result)
                  {
                    ignerr << "Failed to create sensor [" << id << "] of type ["
                           << _sdf->Get<std::string>("type")
                           << "]. SDF sensor type does not match template type."
                           << std::endl;
                  }

                  return result;
                }

                ignerr << "Failed to create sensor of type ["
                       << _sdf->Get<std::string>("type") << "]\n";
                return nullptr;
              }

      public: ignition::sensors::SensorId CreateSensor(sdf::ElementPtr _sdf);

      public: ignition::sensors::SensorId CreateSensor(const sdf::Sensor &_sdf);


      public: ignition::sensors::Sensor *Sensor(
                  ignition::sensors::SensorId _id);

      public: bool Remove(const ignition::sensors::SensorId _id);

      public: void RunOnce(const ignition::common::Time &_time,
                  bool _force = false);

      public: void AddPluginPaths(const std::string &_path);

      private: ignition::sensors::SensorId LoadSensorPlugin(
                   const std::string &_filename, sdf::ElementPtr _sdf);

      private: std::unique_ptr<ManagerPrivate> dataPtr;
    };
    }
  }
}

#endif