SensorFactory.hh

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/*
 * Copyright (C) 2019 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_SENSORFACTORY_HH_
#define IGNITION_SENSORS_SENSORFACTORY_HH_

#include <memory>
#include <string>
#include <type_traits>
#include <sdf/sdf.hh>

#include <ignition/common/Console.hh>
#include <ignition/common/PluginMacros.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 declaration
    class SensorFactoryPrivate;

    class IGNITION_SENSORS_VISIBLE SensorPlugin
    {
      public: IGN_COMMON_SPECIALIZE_INTERFACE(ignition::sensors::SensorPlugin)

      
      public: virtual Sensor *New() = 0;
    };

    template<class SensorType>
    class SensorTypePlugin : public SensorPlugin
    {
      // Documentation inherited
      public: SensorType *New() override
              {
                return new SensorType();
              };
    };

    class IGNITION_SENSORS_VISIBLE SensorFactory
    {
      public: SensorFactory();

      public: ~SensorFactory();

      public: template<typename T>
              std::unique_ptr<T> CreateSensor(const sdf::Sensor &_sdf)
              {
                auto sensor = SensorFactory::CreateSensor(_sdf);

                if (sensor)
                {
                  std::unique_ptr<T> result(
                      dynamic_cast<T *>(sensor.release()));

                  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>
              std::unique_ptr<T> CreateSensor(sdf::ElementPtr _sdf)
              {
                auto sensor = SensorFactory::CreateSensor(_sdf);

                if (sensor)
                {
                  std::unique_ptr<T> result(
                      dynamic_cast<T *>(sensor.release()));

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

                  return result;
                }

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

      public: std::unique_ptr<Sensor> CreateSensor(sdf::ElementPtr _sdf);

      public: std::unique_ptr<Sensor> CreateSensor(const sdf::Sensor &_sdf);

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

      private: std::shared_ptr<SensorPlugin> LoadSensorPlugin(
          const std::string &_filename);

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

    #define IGN_SENSORS_REGISTER_SENSOR(classname) \
    IGN_COMMON_REGISTER_SINGLE_PLUGIN(\
       ignition::sensors::SensorTypePlugin<classname>, \
       ignition::sensors::SensorPlugin)
    }
  }
}

#endif