CustomSensorPreloader.h

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#ifndef GAZEBO_CUSTOM_SENSOR_PRELOADER_CUSTOMSENSORPRELOADER_H
#define GAZEBO_CUSTOM_SENSOR_PRELOADER_CUSTOMSENSORPRELOADER_H
 
#include <gazebo/common/Plugin.hh>
 
#include <memory>
#include <thread>
#include <tuple>
#include <unordered_set>
 
namespace gazebo
{
 
class CustomSensorPreloader : public SystemPlugin
{
  public: CustomSensorPreloader();
  public: ~CustomSensorPreloader() override;
  public: void Load(int _argc, char **_argv) override;
  public: void Init() override;
  public: void Reset() override;
 
  protected: virtual void DeferredPreloadSensors();
 
  typedef void (*registerFuncType)();
 
  protected: virtual void ProcessCustomSensor(const std::string& _type,
                                              const std::string& _classname,
                                              const std::string& _fullname);
 
  protected: std::unique_ptr<std::thread> deferredLoadThread;
 
  typedef std::tuple<registerFuncType, std::string, std::string, std::string> registerTuple;
  protected: std::unordered_set<std::shared_ptr<registerTuple> > sensorsToRegister;
};
 
}
 
#endif //GAZEBO_CUSTOM_SENSOR_PRELOADER_CUSTOMSENSORPRELOADER_H