SensorBase.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2020  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/obs_frwds.h>
#include <mvsim/ClassFactory.h>
#include <mvsim/Simulable.h>
#include <mvsim/VisualObject.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::Ptr factory(
                VehicleBase& parent, const rapidxml::xml_node<char>* xml_node);

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

        double m_sensor_period;  

        void registerOnServer(mvsim::Client& c) override;

   protected:
        VehicleBase& m_vehicle;  

        double m_sensor_last_timestamp;

        std::string publishTopic_;

        bool parseSensorPublish(
                const rapidxml::xml_node<char>* node,
                const std::map<std::string, std::string>& varValues);

        void reportNewObservation(
                const std::shared_ptr<mrpt::obs::CObservation>& obs,
                const TSimulContext& context);
};

// 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)
}  // namespace mvsim