Publication.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 _PUBLICATION_HH_
#define _PUBLICATION_HH_

#include <utility>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <list>
#include <string>
#include <vector>
#include <map>

#include "gazebo/transport/CallbackHelper.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/transport/PublicationTransport.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace transport
  {

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

      public: virtual ~Publication();

      public: std::string GetMsgType() const;

      public: void AddSubscription(const CallbackHelperPtr _callback);

      public: void AddSubscription(const NodePtr &_node);

      public: void RemoveSubscription(const NodePtr &_node);

      public: void RemoveSubscription(const std::string &_host,
                                      unsigned int _port);

      public: void RemoveTransport(const std::string &_host, unsigned
                                   int _port);

      public: unsigned int GetTransportCount() const;

      public: unsigned int GetCallbackCount() const;

      public: unsigned int PublisherCount() const;

      public: unsigned int GetNodeCount() const;

      public: unsigned int GetRemoteSubscriptionCount();

      public: bool GetLocallyAdvertised() const;

      public: void SetLocallyAdvertised(bool _value);

      public: void LocalPublish(const std::string &_data);

      public: int Publish(MessagePtr _msg,
                  boost::function<void(uint32_t)> _cb,
                  uint32_t _id);

      public: void RemovePublisher(PublisherPtr _pub);

      public: bool RemovePublisher(const uint32_t id);

      public: void SetPrevMsg(uint32_t _pubId, MessagePtr _msg);

      public: MessagePtr GetPrevMsg(uint32_t _pubId);

      public: void ClearPrevMsgs();

      public: void AddTransport(const PublicationTransportPtr &_publink);

      public: bool HasTransport(const std::string &_host, unsigned int _port);

      public: void AddPublisher(PublisherPtr _pub);

      private: void RemoveNodes();

      private: unsigned int id;

      private: static unsigned int idCounter;

      private: std::string topic;

      private: std::string msgType;

      private: std::list<CallbackHelperPtr> callbacks;

      private: std::list<NodePtr> nodes;

      private: std::list<unsigned int> removeNodes;

      private: std::list<std::pair<std::string, unsigned int> > removeCallbacks;

      private: std::list<PublicationTransportPtr> transports;

      private: std::vector<PublisherPtr> publishers;

      private: bool locallyAdvertised;

      private: mutable boost::mutex nodeMutex;

      private: mutable boost::mutex callbackMutex;

      private: mutable boost::mutex nodeRemoveMutex;

      private: std::map<uint32_t, MessagePtr> prevMsgs;
    };
  }
}
#endif