Master.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2015 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 _MASTER_HH_
#define _MASTER_HH_

#include <string>
#include <list>
#include <deque>
#include <utility>
#include <map>
#include <boost/shared_ptr.hpp>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/Connection.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  class GAZEBO_VISIBLE Master
  {
    typedef std::map<unsigned int, transport::ConnectionPtr> Connection_M;


    public: Master();

    public: virtual ~Master();

    public: void Init(uint16_t _port);

    public: void Run();

    public: void RunThread();

    public: void RunOnce();

    public: void Stop();

    public: void Fini();

    private: void ProcessMessage(const unsigned int _connectionIndex,
                                 const std::string &_data);

    private: void OnRead(const unsigned int _connectionIndex,
                         const std::string &_data);

    private: void OnAccept(transport::ConnectionPtr _newConnection);

    private: msgs::Publish GetPublisher(const std::string &_topic);

    private: transport::ConnectionPtr FindConnection(const std::string &_host,
                                                     uint16_t _port);


    private: void RemoveConnection(Connection_M::iterator _connIter);

    private: void RemovePublisher(const msgs::Publish _pub);

    private: void RemoveSubscriber(const msgs::Subscribe _sub);

    typedef std::list< std::pair<msgs::Publish, transport::ConnectionPtr> >
      PubList;

    typedef std::list< std::pair<msgs::Subscribe, transport::ConnectionPtr> >
      SubList;

    private: PubList publishers;

    private: SubList subscribers;

    private: Connection_M connections;

    private: std::list<std::string> worldNames;

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

    private: transport::ConnectionPtr connection;

    private: boost::thread *runThread;

    private: bool stop;

    private: boost::recursive_mutex connectionMutex;

    private: boost::recursive_mutex msgsMutex;
  };
}
#endif