Publication.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _PUBLICATION_HH_
19 #define _PUBLICATION_HH_
20 
21 #include <utility>
22 #include <boost/function.hpp>
23 #include <boost/shared_ptr.hpp>
24 #include <boost/thread/mutex.hpp>
25 #include <list>
26 #include <string>
27 #include <vector>
28 #include <map>
29 
33 #include "gazebo/util/system.hh"
34 
35 namespace gazebo
36 {
37  namespace transport
38  {
41 
45  class GZ_TRANSPORT_VISIBLE Publication :
46  public boost::enable_shared_from_this<Publication>
47  {
51  public: Publication(const std::string &_topic,
52  const std::string &_msgType);
53 
55  public: virtual ~Publication();
56 
59  public: std::string GetMsgType() const;
60 
63  public: void AddSubscription(const CallbackHelperPtr _callback);
64 
67  public: void AddSubscription(const NodePtr &_node);
68 
71  public: void RemoveSubscription(const NodePtr &_node);
72 
76  public: void RemoveSubscription(const std::string &_host,
77  unsigned int _port);
78 
82  public: void RemoveTransport(const std::string &_host, unsigned
83  int _port);
84 
87  public: unsigned int GetTransportCount() const;
88 
91  public: unsigned int GetCallbackCount() const;
92 
95  public: unsigned int PublisherCount() const;
96 
99  public: unsigned int GetNodeCount() const;
100 
103  public: unsigned int GetRemoteSubscriptionCount();
104 
108  public: bool GetLocallyAdvertised() const;
109 
113  public: void SetLocallyAdvertised(bool _value);
114 
117  public: void LocalPublish(const std::string &_data);
118 
125  public: int Publish(MessagePtr _msg,
126  boost::function<void(uint32_t)> _cb,
127  uint32_t _id);
128 
131  public: void RemovePublisher(PublisherPtr _pub);
132 
136  public: bool RemovePublisher(const uint32_t id);
137 
141  public: void SetPrevMsg(uint32_t _pubId, MessagePtr _msg);
142 
147  public: MessagePtr GetPrevMsg(uint32_t _pubId);
148 
150  public: void ClearPrevMsgs();
151 
155  public: void AddTransport(const PublicationTransportPtr &_publink);
156 
161  public: bool HasTransport(const std::string &_host, unsigned int _port);
162 
165  public: void AddPublisher(PublisherPtr _pub);
166 
168  private: void RemoveNodes();
169 
171  private: unsigned int id;
172 
174  private: static unsigned int idCounter;
175 
177  private: std::string topic;
178 
180  private: std::string msgType;
181 
183  private: std::list<CallbackHelperPtr> callbacks;
184 
186  private: std::list<NodePtr> nodes;
187 
189  private: std::list<unsigned int> removeNodes;
190 
192  private: std::list<std::pair<std::string, unsigned int> > removeCallbacks;
193 
195  private: std::list<PublicationTransportPtr> transports;
196 
198  private: std::vector<PublisherPtr> publishers;
199 
201  private: bool locallyAdvertised;
202 
204  private: mutable boost::mutex nodeMutex;
205 
207  private: mutable boost::mutex callbackMutex;
208 
210  private: mutable boost::mutex nodeRemoveMutex;
211 
213  private: std::map<uint32_t, MessagePtr> prevMsgs;
214  };
216  }
217 }
218 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< google::protobuf::Message > MessagePtr
Definition: TransportTypes.hh:45
Forward declarations for transport.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< CallbackHelper > CallbackHelperPtr
boost shared pointer to transport::CallbackHelper
Definition: CallbackHelper.hh:105
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
A publication for a topic.
Definition: Publication.hh:45
boost::shared_ptr< PublicationTransport > PublicationTransportPtr
Definition: TransportTypes.hh:65