Publisher.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.
 *
*/
/* Desc: Handles pushing messages out on a named topic
 * Author: Nate Koenig
 */

#ifndef GAZEBO_TRANSPORT_PUBLISHER_HH_
#define GAZEBO_TRANSPORT_PUBLISHER_HH_

#include <google/protobuf/message.h>
#include <boost/thread.hpp>
#include <boost/shared_ptr.hpp>
#include <string>
#include <list>
#include <map>

#include "gazebo/common/Time.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace transport
  {

    class GZ_TRANSPORT_VISIBLE Publisher :
        public boost::enable_shared_from_this<Publisher>
    {
      public: Publisher(const std::string &_topic, const std::string &_msgType,
                        unsigned int _limit, double _hzRate);

      public: virtual ~Publisher();

      public: bool HasConnections() const;

      public: void WaitForConnection() const;

      public: bool WaitForConnection(const common::Time &_timeout) const;

      public: void SetPublication(PublicationPtr _publication);

      public: unsigned int GetRemoteSubscriptionCount();

      public: void Publish(const google::protobuf::Message &_message,
                 bool _block = false)
              { this->PublishImpl(_message, _block); }

      public: template< typename M>
              void Publish(M _message, bool _block = false)
              { this->PublishImpl(_message, _block); }

      public: unsigned int GetOutgoingCount() const;

      public: std::string GetTopic() const;

      public: std::string GetMsgType() const;

      public: void SendMessage();

      public: void SetNode(NodePtr _node);

      public: std::string GetPrevMsg() const;

      public: MessagePtr GetPrevMsgPtr() const;

      public: void Fini();

      public: uint32_t Id() const;

      private: void PublishImpl(const google::protobuf::Message &_message,
                                bool _block);

      private: void OnPublishComplete(uint32_t _id);

      private: std::string topic;

      private: std::string msgType;

      private: unsigned int queueLimit;

      private: double updatePeriod;

      private: bool queueLimitWarned;

      private: std::list<MessagePtr> messages;

      private: mutable boost::mutex mutex;

      private: PublicationPtr publication;

      private: NodePtr node;

      private: common::Time currentTime;
      private: common::Time prevPublishTime;

      private: uint32_t pubId;

      private: std::map<uint32_t, int> pubIds;

      private: uint32_t id;

      private: static uint32_t idCounter;
    };
  }
}
#endif