SimulatedDevice.h

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/*
 * Copyright (c) 2013 Tallinn University of Technology.
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the GNU Public License v3.0
 * which accompanies this distribution, and is available at
 * http://www.gnu.org/licenses/gpl.html
 *
 * Contributors:
 *     Yuri Gavshin
 */

#ifndef SIMULATEDDEVICE_H_
#define SIMULATEDDEVICE_H_

#include <libxml++/libxml++.h>
#include <iostream>
#include <cstdlib>
#include <list>
#include <boost/smart_ptr/shared_ptr.hpp>

struct ROSInterfaceInfo;
struct SimulatedIAUV;
struct ROSInterface;
struct ConfigFile;
struct Vehicle;
struct SceneBuilder;
struct BulletPhysics;
struct ViewBuilder;

namespace uwsim
{
struct SimulatedDevice;
//Base class for device's XML configuration
class SimulatedDeviceConfig
{
  //device/rosinterface type identifier for both "XML config" and a "factory"
  std::string type;

public:
  typedef boost::shared_ptr<SimulatedDeviceConfig> Ptr;
  //common XML properties:
  std::string name;
  std::string getType()
  {
    return type;
  }

  SimulatedDeviceConfig(std::string type);
  virtual ~SimulatedDeviceConfig()
  {
  }
  ;
};

//Base class for device/rosinterface "factory"
class SimulatedDeviceFactory
{
  //device/rosinterface type identifier for both "XML config" and a "factory"
  std::string type;
public:
  typedef boost::shared_ptr<SimulatedDeviceFactory> Ptr;
  std::string getType()
  {
    return type;
  }
  SimulatedDeviceFactory(std::string type);

  //DRIVER: parses XML and returns "XML config", executed first
  virtual SimulatedDeviceConfig::Ptr processConfig(const xmlpp::Node* node, ConfigFile * config) = 0;
  //DRIVER: checks parsed XML configurations and sets SimulatedAUV's data, executed second
  //Executed multiple times (to allow dependent devices work independent from order of ), until all factories return true
  //normally, configuration should occur only on iteration 0
  virtual bool applyConfig(SimulatedIAUV * auv, Vehicle &vehicleChars, SceneBuilder *oscene, size_t iteration) = 0;
  //ROSINTERFACE: returns configured ROSInterfaces, executed third
  virtual std::vector<boost::shared_ptr<ROSInterface> > getInterface(
      ROSInterfaceInfo & rosInterface, std::vector<boost::shared_ptr<SimulatedIAUV> > & iauvFile) = 0;

  virtual ~SimulatedDeviceFactory()
  {
  }
  ;
};

//Base class for a simulated device
class SimulatedDevice
{
  std::string type; //driver/rosinterface type
public:
  std::string name; //common property
  std::string getType()
  {
    return type;
  }
  typedef boost::shared_ptr<SimulatedDevice> Ptr;
  SimulatedDevice(SimulatedDeviceConfig * cfg);
  virtual void applyPhysics(BulletPhysics * bulletPhysics)
  {
  }
  virtual void setViewBuilder(ViewBuilder * viewBuilder)
  {
  }

  virtual ~SimulatedDevice()
  {
  }
};
}
;

#endif /* SIMULATEDDEVICES_H_ */