From 25be8d7436dac020b5b10b6bd8a2245f82ff39cc Mon Sep 17 00:00:00 2001
From: ahcorde <ahcorde@gmail.com>
Date: Fri, 21 Aug 2020 13:07:26 +0200
Subject: [PATCH] Added AddSensor method to Manager

Signed-off-by: ahcorde <ahcorde@gmail.com>
---
 include/ignition/sensors/Manager.hh       |  7 +++++++
 include/ignition/sensors/SensorFactory.hh |  1 -
 src/Manager.cc                            | 10 ++++++++++
 3 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/include/ignition/sensors/Manager.hh b/include/ignition/sensors/Manager.hh
index 01b8fa50..d5a4bc72 100644
--- a/include/ignition/sensors/Manager.hh
+++ b/include/ignition/sensors/Manager.hh
@@ -153,6 +153,13 @@ namespace ignition
       /// is returned on erro.
       public: ignition::sensors::SensorId CreateSensor(sdf::ElementPtr _sdf);
 
+      /// \brief Add a sensor from a sensor instance.
+      /// \sa Sensor()
+      /// \param[in] _sensor pointer to the sensor
+      /// \return A sensor id that refers to the created sensor. NO_SENSOR
+      /// is returned on error.
+      public: ignition::sensors::SensorId AddSensor(std::unique_ptr<sensors::Sensor> _sensor);
+
       /// \brief Create a sensor from SDF without a known sensor type.
       ///
       ///   This creates sensors by looking at the given sdf element.
diff --git a/include/ignition/sensors/SensorFactory.hh b/include/ignition/sensors/SensorFactory.hh
index cb5f234d..be5d6dfc 100644
--- a/include/ignition/sensors/SensorFactory.hh
+++ b/include/ignition/sensors/SensorFactory.hh
@@ -24,7 +24,6 @@
 
 #include <ignition/common/Console.hh>
 #include <ignition/plugin/Loader.hh>
-#include <ignition/plugin/RegisterMore.hh>
 
 #include <ignition/sensors/config.hh>
 #include <ignition/sensors/Export.hh>
diff --git a/src/Manager.cc b/src/Manager.cc
index 4105fb9a..e102de33 100644
--- a/src/Manager.cc
+++ b/src/Manager.cc
@@ -100,6 +100,16 @@ void Manager::RunOnce(const ignition::common::Time &_time, bool _force)
   }
 }
 
+/////////////////////////////////////////////////
+ignition::sensors::SensorId Manager::AddSensor(std::unique_ptr<sensors::Sensor> _sensor)
+{
+  if (!_sensor)
+    return NO_SENSOR;
+  SensorId id = _sensor->Id();
+  this->dataPtr->sensors[id] = std::move(_sensor);
+  return id;
+}
+
 /////////////////////////////////////////////////
 ignition::sensors::SensorId Manager::CreateSensor(const sdf::Sensor &_sdf)
 {