environment_monitor.h

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#ifndef TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_H
#define TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_H
 
#include <tesseract_environment/environment.h>
#include <chrono>
 
namespace tesseract_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) : monitor_namespace_(monitor_namespace) {}
 
  EnvironmentMonitor(tesseract_environment::Environment::Ptr env, std::string monitor_namespace)
    : env_(std::move(env)), monitor_namespace_(monitor_namespace)
  {
  }
 
  virtual ~EnvironmentMonitor() = default;
 
  virtual const std::string& getNamespace() const { return monitor_namespace_; }
 
  virtual tesseract_environment::Environment& environment() { return *env_; }
 
  virtual const tesseract_environment::Environment& environment() const { return *env_; }
 
  virtual tesseract_environment::Environment::Ptr getEnvironment() { return env_; }
 
  virtual tesseract_environment::Environment::ConstPtr getEnvironment() const { return env_; }
 
  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:
  tesseract_environment::Environment::Ptr env_;
  std::string monitor_namespace_;
  MonitoredEnvironmentMode mode_{ MonitoredEnvironmentMode::DEFAULT };
};
 
}  // namespace tesseract_environment
#endif  // TESSERACT_ENVIRONMENT_ENVIRONMENT_MONITOR_H