gazebo_engine_grpc_nrp_client.h

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/* * NRP Core - Backend infrastructure to synchronize simulations
 *
 * Copyright 2020-2023 NRP Team
 *
 * 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.
 *
 * This project has received funding from the European Union’s Horizon 2020
 * Framework Programme for Research and Innovation under the Specific Grant
 * Agreement No. 945539 (Human Brain Project SGA3).
 */
 
#ifndef GAZEBO_ENGINE_GRPC_NRP_CLIENT_H
#define GAZEBO_ENGINE_GRPC_NRP_CLIENT_H
 
#include "nrp_grpc_engine_protocol/engine_client/engine_grpc_client.h"
#include "nrp_general_library/engine_interfaces/engine_client_interface.h"
#include "nrp_general_library/plugin_system/plugin.h"
#include "nrp_protobuf/gazebo.pb.h"
 
#include "nrp_gazebo_grpc_engine/config/gazebo_grpc_config.h"
 
#include <unistd.h>
 
 
class GazeboEngineGrpcNRPClient
: public EngineGrpcClient<GazeboEngineGrpcNRPClient, GazeboGrpcConfigConst::EngineSchema>
{
    public:
        GazeboEngineGrpcNRPClient(nlohmann::json &config, ProcessLauncherInterface::unique_ptr &&launcher);
        virtual ~GazeboEngineGrpcNRPClient() override = default;
 
        virtual void initialize() override;
 
        virtual void reset() override;
 
        virtual void shutdown() override;
 
        virtual const std::vector<std::string> engineProcStartParams() const override;
};
 
using GazeboEngineGrpcLauncher = GazeboEngineGrpcNRPClient::EngineLauncher<GazeboGrpcConfigConst::EngineType>;
 
CREATE_NRP_ENGINE_LAUNCHER(GazeboEngineGrpcLauncher);
 
#endif // GAZEBO_ENGINE_GRPC_NRP_CLIENT_H