Publication.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _PUBLICATION_HH_
19 #define _PUBLICATION_HH_
20 
21 #include <utility>
22 #include <boost/function.hpp>
23 #include <boost/shared_ptr.hpp>
24 #include <boost/thread/mutex.hpp>
25 #include <list>
26 #include <string>
27 #include <vector>
28 #include <map>
29 
33 #include "gazebo/util/system.hh"
34 
35 namespace gazebo
36 {
37  namespace transport
38  {
41 
45  class GZ_TRANSPORT_VISIBLE Publication
46  {
50  public: Publication(const std::string &_topic,
51  const std::string &_msgType);
52 
54  public: virtual ~Publication();
55 
58  public: std::string GetMsgType() const;
59 
62  public: void AddSubscription(const CallbackHelperPtr _callback);
63 
66  public: void AddSubscription(const NodePtr &_node);
67 
70  public: void RemoveSubscription(const NodePtr &_node);
71 
75  public: void RemoveSubscription(const std::string &_host,
76  unsigned int _port);
77 
81  public: void RemoveTransport(const std::string &_host, unsigned
82  int _port);
83 
86  public: unsigned int GetTransportCount() const;
87 
90  public: unsigned int GetCallbackCount() const;
91 
94  public: unsigned int PublisherCount() const;
95 
98  public: unsigned int GetNodeCount() const;
99 
102  public: unsigned int GetRemoteSubscriptionCount();
103 
107  public: bool GetLocallyAdvertised() const;
108 
112  public: void SetLocallyAdvertised(bool _value);
113 
116  public: void LocalPublish(const std::string &_data);
117 
124  public: int Publish(MessagePtr _msg,
125  boost::function<void(uint32_t)> _cb,
126  uint32_t _id);
127 
130  public: void RemovePublisher(PublisherPtr _pub);
131 
135  public: bool RemovePublisher(const uint32_t id);
136 
140  public: void SetPrevMsg(uint32_t _pubId, MessagePtr _msg);
141 
146  public: MessagePtr GetPrevMsg(uint32_t _pubId);
147 
149  public: void ClearPrevMsgs();
150 
154  public: void AddTransport(const PublicationTransportPtr &_publink);
155 
160  public: bool HasTransport(const std::string &_host, unsigned int _port);
161 
164  public: void AddPublisher(PublisherPtr _pub);
165 
167  private: void RemoveNodes();
168 
170  private: unsigned int id;
171 
173  private: static unsigned int idCounter;
174 
176  private: std::string topic;
177 
179  private: std::string msgType;
180 
182  private: std::list<CallbackHelperPtr> callbacks;
183 
185  private: std::list<NodePtr> nodes;
186 
188  private: std::list<unsigned int> removeNodes;
189 
191  private: std::list<std::pair<std::string, unsigned int> > removeCallbacks;
192 
194  private: std::list<PublicationTransportPtr> transports;
195 
197  private: std::vector<PublisherPtr> publishers;
198 
200  private: bool locallyAdvertised;
201 
203  private: mutable boost::mutex nodeMutex;
204 
206  private: mutable boost::mutex callbackMutex;
207 
209  private: mutable boost::mutex nodeRemoveMutex;
210 
212  private: std::map<uint32_t, MessagePtr> prevMsgs;
213  };
215  }
216 }
217 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
boost::shared_ptr< google::protobuf::Message > MessagePtr
Definition: TransportTypes.hh:45
Forward declarations for transport.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< CallbackHelper > CallbackHelperPtr
boost shared pointer to transport::CallbackHelper
Definition: CallbackHelper.hh:105
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
A publication for a topic.
Definition: Publication.hh:45
boost::shared_ptr< PublicationTransport > PublicationTransportPtr
Definition: TransportTypes.hh:65