TopicManager.hh

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/*
 * Copyright (C) 2012-2014 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 _TOPICMANAGER_HH_
#define _TOPICMANAGER_HH_

#include <boost/bind.hpp>
#include <map>
#include <list>
#include <string>
#include <vector>
#include <boost/unordered/unordered_set.hpp>

#include "gazebo/common/Assert.hh"
#include "gazebo/common/Exception.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/SingletonT.hh"

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/transport/SubscribeOptions.hh"
#include "gazebo/transport/SubscriptionTransport.hh"
#include "gazebo/transport/PublicationTransport.hh"
#include "gazebo/transport/ConnectionManager.hh"
#include "gazebo/transport/Publisher.hh"
#include "gazebo/transport/Publication.hh"
#include "gazebo/transport/Subscriber.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace transport
  {

    class GAZEBO_VISIBLE TopicManager : public SingletonT<TopicManager>
    {
      private: TopicManager();
      private: virtual ~TopicManager();

      public: void Init();

      public: void Fini();

      public: PublicationPtr FindPublication(const std::string &_topic);

      public: void AddNode(NodePtr _node);

      public: void RemoveNode(unsigned int _id);

      public: void ProcessNodes(bool _onlyOut = false);

      public: bool IsAdvertised(const std::string &_topic);

      public: SubscriberPtr Subscribe(const SubscribeOptions &_options);

      public: void Unsubscribe(const std::string &_topic, const NodePtr &_sub);

      public: template<typename M>
              PublisherPtr Advertise(const std::string &_topic,
                                     unsigned int _queueLimit,
                                     double _hzRate)
              {
                google::protobuf::Message *msg = NULL;
                M msgtype;
                msg = dynamic_cast<google::protobuf::Message *>(&msgtype);
                if (!msg)
                  gzthrow("Advertise requires a google protobuf type");

                this->UpdatePublications(_topic, msg->GetTypeName());

                PublisherPtr pub = PublisherPtr(new Publisher(_topic,
                      msg->GetTypeName(), _queueLimit, _hzRate));

                std::string msgTypename;
                PublicationPtr publication;

                // Connect all local subscription to the publisher
                msgTypename = msg->GetTypeName();

                publication = this->FindPublication(_topic);
                GZ_ASSERT(publication != NULL, "FindPublication returned NULL");

                publication->AddPublisher(pub);
                if (!publication->GetLocallyAdvertised())
                {
                  ConnectionManager::Instance()->Advertise(_topic, msgTypename);
                }

                publication->SetLocallyAdvertised(true);
                pub->SetPublication(publication);


                SubNodeMap::iterator iter2;
                SubNodeMap::iterator stEnd2 = this->subscribedNodes.end();
                for (iter2 = this->subscribedNodes.begin();
                     iter2 != stEnd2; ++iter2)
                {
                  if (iter2->first == _topic)
                  {
                    std::list<NodePtr>::iterator liter;
                    std::list<NodePtr>::iterator lEnd = iter2->second.end();
                    for (liter = iter2->second.begin();
                        liter != lEnd; ++liter)
                    {
                      publication->AddSubscription(*liter);
                    }
                  }
                }

                return pub;
              }

      public: void Unadvertise(const std::string &_topic);

      public: void Unadvertise(PublisherPtr _pub);

      public: void Publish(const std::string &_topic, MessagePtr _message,
                  boost::function<void(uint32_t)> _cb, uint32_t _id);

      public: void ConnectPubToSub(const std::string &_topic,
                                    const SubscriptionTransportPtr _sublink);

      public: void ConnectSubToPub(const msgs::Publish &_pub);

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

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

      public: void ConnectSubscribers(const std::string &_topic);

      public: PublicationPtr UpdatePublications(const std::string &_topic,
                                                const std::string &_msgType);

      public: void RegisterTopicNamespace(const std::string &_name);

      public: void GetTopicNamespaces(std::list<std::string> &_namespaces);

      public: void ClearBuffers();

      public: void PauseIncoming(bool _pause);

      public: void AddNodeToProcess(NodePtr _ptr);

      typedef std::map<std::string, std::list<NodePtr> > SubNodeMap;

      private: typedef std::map<std::string, PublicationPtr> PublicationPtr_M;
      private: PublicationPtr_M advertisedTopics;
      private: PublicationPtr_M::iterator advertisedTopicsEnd;
      private: SubNodeMap subscribedNodes;
      private: std::vector<NodePtr> nodes;

      private: boost::unordered_set<NodePtr> nodesToProcess;

      private: boost::recursive_mutex nodeMutex;

      private: boost::mutex subscriberMutex;

      private: boost::mutex processNodesMutex;

      private: bool pauseIncoming;

      // Singleton implementation
      private: friend class SingletonT<TopicManager>;
    };
  }
}
#endif