/*
 * Copyright (C) 2018 Fabio D'Urso <durso@dmi.unict.it>
 *
 * 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.
 *
*/
#ifndef GZUAV_PLUGIN_HH_
#define GZUAV_PLUGIN_HH_

#include "gzuav_common.hh"
#include "Gimbal.hh"
#include "PoseSampler.hh"
#include "Rotor.hh"

namespace gazebo
{
namespace GzUav
{
  class GAZEBO_VISIBLE Plugin : public ModelPlugin
  {
    /// \brief Constructor.
    public: Plugin();

    /// \brief Destructor.
    public: ~Plugin();

    // Documentation Inherited.
    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    /// \brief Simulation step callback method.
    private: void OnUpdate();

    /// \brief Pointer to the model
    private: physics::ModelPtr model;

    /// \brief Unix domain socket connected to gzuavchannel.
    private: int sock;

    /// \brief Pointer to the update event connection.
    private: event::ConnectionPtr updateConnection;

    /// \brief PoseSampler component.
    private: PoseSampler poseSampler;

    /// \brief Propellers with their channel indices.
    private: std::map<Rotor*, int> rotors;

    /// \brief Gimbal (if present).
    private: Gimbal *gimbal;
  };
}
}
#endif
