PublicationTransport.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * 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 _PUBLICATIONTRANSPORT_HH_
#define _PUBLICATIONTRANSPORT_HH_

#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <string>

#include "gazebo/transport/Connection.hh"
#include "gazebo/common/Event.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace transport
  {

    class GZ_TRANSPORT_VISIBLE PublicationTransport :
        public boost::enable_shared_from_this<PublicationTransport>
    {
      public: PublicationTransport(const std::string &_topic,
                                   const std::string &_msgType);

      public: virtual ~PublicationTransport();

      public: void Init(const ConnectionPtr &_conn, bool _latched);

      public: void Fini();

      public: void AddCallback(
                  const boost::function<void(const std::string &)> &_cb);

      public: const ConnectionPtr GetConnection() const;

      public: std::string GetTopic() const;

      public: std::string GetMsgType() const;

      private: void OnPublish(const std::string &_data);

      private: std::string topic;

      private: std::string msgType;

      private: ConnectionPtr connection;

      private: boost::function<void (const std::string &)> callback;

      private: static int counter;

      private: int id;
    };
  }
}
#endif