SensorBase.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mvsim/VisualObject.h>
#include <mvsim/Simulable.h>
#include <mvsim/ClassFactory.h>

namespace mvsim
{
class VehicleBase;

class SensorBase : public VisualObject, public Simulable
{
   public:
        using Ptr = std::shared_ptr<SensorBase>;

        SensorBase(VehicleBase& vehicle);  

        virtual ~SensorBase();

        static SensorBase* factory(
                VehicleBase& parent, const rapidxml::xml_node<char>* xml_node);

        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) = 0;

        double m_sensor_period;  


   protected:
        VehicleBase& m_vehicle;  

        double m_sensor_last_timestamp;  

};

// Class factory:
typedef ClassFactory<SensorBase, VehicleBase&, const rapidxml::xml_node<char>*>
        TClassFactory_sensors;
extern TClassFactory_sensors classFactory_sensors;

#define DECLARES_REGISTER_SENSOR(CLASS_NAME) \
        DECLARES_REGISTER_CLASS2(                \
                CLASS_NAME, SensorBase, VehicleBase&, const rapidxml::xml_node<char>*)

#define REGISTER_SENSOR(TEXTUAL_NAME, CLASS_NAME) \
        REGISTER_CLASS2(                              \
                TClassFactory_sensors, classFactory_sensors, TEXTUAL_NAME, CLASS_NAME)
}