SensorManager.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Desc: Class to manager all sensors
 * Author: Nate Koenig
 * Date: 18 Dec 2009
 */

#ifndef SENSORMANAGER_HH
#define SENSORMANAGER_HH

#include <list>
#include <boost/thread.hpp>

#include "common/SingletonT.hh"
#include "sensors/SensorTypes.hh"
#include "sdf/sdf.h"

namespace gazebo
{
  namespace sensors
  {
 
    class SensorManager : public SingletonT<SensorManager>
    {
      public: SensorManager();

      public: virtual ~SensorManager();

      public: void Update(bool force=false);

      public: void Init();

      public: void Run();

      public: void Stop();

      public: void Fini();

      public: std::string LoadSensor(sdf::ElementPtr _elem,
                                     const std::string &_parentName);

      public: SensorPtr GetSensor(const std::string &_name);

      public: void RemoveSensor(const std::string &_name);

      public: void RemoveSensors();

      private: void RunLoop();

      private: bool stop;
      private: bool initialized;
      private: boost::thread *runThread;
      private: boost::recursive_mutex *mutex;

      private: std::list<SensorPtr > sensors;

      private: friend class SingletonT<SensorManager>;

      private: std::list<SensorPtr > initSensors;
    };
  }
}
#endif