LedPlugin.hh

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// Copyright 2021 RobosoftAI Inc.
//
// 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.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
 
#ifndef GAZEBO_SMACC_PLUGINS_LEDPLUGIN_HH_
#define GAZEBO_SMACC_PLUGINS_LEDPLUGIN_HH_
 
#include <memory>
 
#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
 
#include "FlashLightPlugin.hh"
 
namespace smacc2
{
  // forward declaration
  class LedSettingPrivate;
 
  class GZ_PLUGIN_VISIBLE LedSetting: public FlashLightSetting
  {
    public: LedSetting(
      const sdf::ElementPtr &_sdf,
      const gazebo::physics::ModelPtr &_model,
      const gazebo::common::Time &_currentTime,
      gazebo_ros::Node::SharedPtr rosnode);
 
    public: virtual ~LedSetting();
 
    public: virtual void InitPubVisual(
      const gazebo::transport::PublisherPtr &_pubVisual) final;
 
    // Documentation inherited.
    protected: virtual void Flash();
 
    // Documentation inherited.
    protected: virtual void Dim();
 
    private: std::unique_ptr<LedSettingPrivate> dataPtr;
  };
 
  // forward declaration
  class LedPluginPrivate;
 
  class GZ_PLUGIN_VISIBLE LedPlugin : public FlashLightPlugin
  {
    public: LedPlugin();
 
    public: virtual ~LedPlugin();
 
    // Documentation inherited.
    protected: virtual std::shared_ptr<FlashLightSetting> CreateSetting(
      const sdf::ElementPtr &_sdf,
      const gazebo::physics::ModelPtr &_model,
      const gazebo::common::Time &_currentTime,
    gazebo_ros::Node::SharedPtr node);
 
    // Documentation inherited.
    protected: virtual void InitSettingBySpecificData(
        std::shared_ptr<FlashLightSetting> &_setting);
 
    private: std::unique_ptr<LedPluginPrivate> dataPtr;
  };
}
#endif