BrokerPlugin.hh

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/*
 * Copyright (C) 2015 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 __SWARM_BROKER_PLUGIN_HH__
#define __SWARM_BROKER_PLUGIN_HH__

#include <memory>
#include <mutex>
#include <queue>
#include <string>
#include <gazebo/common/Events.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/physics/PhysicsTypes.hh>
#include <ignition/transport.hh>
#include <sdf/sdf.hh>

#include "swarm/CommsModel.hh"
#include "swarm/SwarmTypes.hh"
#include "msgs/datagram.pb.h"

namespace swarm
{
  class IGNITION_VISIBLE BrokerPlugin : public gazebo::WorldPlugin
  {
    public: BrokerPlugin() = default;

    public: virtual ~BrokerPlugin();

    // Documentation Inherited.
    public: virtual void Load(gazebo::physics::WorldPtr _world,
                              sdf::ElementPtr _sdf);

    private: void ReadSwarmFromSDF(sdf::ElementPtr _sdf);

    private: void Update(const gazebo::common::UpdateInfo &_info);

    private: void NotifyNeighbors();

    private: void DispatchMessages();

    private: void OnMsgReceived(const std::string &_topic,
                                const msgs::Datagram &_msg);

    private: gazebo::physics::WorldPtr world;

    private: sdf::ElementPtr sdf;

    private: gazebo::event::ConnectionPtr updateConnection;

    private: ignition::transport::Node node;

    private: std::queue<msgs::Datagram> incomingMsgs;

    private: SwarmMembershipPtr swarm;

    private: std::mutex mutex;

    private: std::unique_ptr<CommsModel> commsModel;
  };
}
#endif