environment_monitor.h

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#ifndef TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_H
#define TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <chrono>
#include <memory>
#include <string>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace tesseract_environment
{
class Environment;
 
enum class MonitoredEnvironmentMode : int
{
  DEFAULT = 0,
 
  SYNCHRONIZED = 1
};
 
class EnvironmentMonitor
{
public:
  using Ptr = std::shared_ptr<EnvironmentMonitor>;
  using ConstPtr = std::shared_ptr<const EnvironmentMonitor>;
  using UPtr = std::unique_ptr<EnvironmentMonitor>;
  using ConstUPtr = std::unique_ptr<const EnvironmentMonitor>;
 
  EnvironmentMonitor(std::string monitor_namespace);
 
  EnvironmentMonitor(std::shared_ptr<Environment> env, std::string monitor_namespace);
 
  virtual ~EnvironmentMonitor() = default;
  EnvironmentMonitor(const EnvironmentMonitor&) = default;
  EnvironmentMonitor& operator=(const EnvironmentMonitor&) = default;
  EnvironmentMonitor(EnvironmentMonitor&&) = default;
  EnvironmentMonitor& operator=(EnvironmentMonitor&&) = default;
 
  virtual const std::string& getNamespace() const;
 
  virtual Environment& environment();
 
  virtual const Environment& environment() const;
 
  virtual std::shared_ptr<Environment> getEnvironment();
 
  virtual std::shared_ptr<const Environment> getEnvironment() const;
 
  virtual bool waitForConnection(std::chrono::duration<double> duration = std::chrono::seconds(0)) const = 0;
 
  virtual void startPublishingEnvironment() = 0;
 
  virtual void stopPublishingEnvironment() = 0;
 
  virtual void setEnvironmentPublishingFrequency(double hz) = 0;
 
  virtual double getEnvironmentPublishingFrequency() const = 0;
 
  virtual void startStateMonitor(const std::string& joint_states_topic, bool publish_tf = true) = 0;
 
  virtual void stopStateMonitor() = 0;
 
  virtual void setStateUpdateFrequency(double hz = 10) = 0;
 
  virtual double getStateUpdateFrequency() const = 0;
 
  virtual void updateEnvironmentWithCurrentState() = 0;
 
  virtual void startMonitoringEnvironment(const std::string& monitored_namespace,
                                          MonitoredEnvironmentMode mode = MonitoredEnvironmentMode::DEFAULT) = 0;
 
  virtual void stopMonitoringEnvironment() = 0;
 
  virtual bool waitForCurrentState(std::chrono::duration<double> duration = std::chrono::seconds(1)) = 0;
 
  virtual void shutdown() = 0;
 
protected:
  std::shared_ptr<tesseract_environment::Environment> env_;
  std::string monitor_namespace_;
  MonitoredEnvironmentMode mode_{ MonitoredEnvironmentMode::DEFAULT };
};
 
}  // namespace tesseract_environment
#endif  // TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_H