gz/sim/comms/MsgManager.hh

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/*
 * Copyright (C) 2022 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 GZ_SIM_MSGMANAGER_HH_
#define GZ_SIM_MSGMANAGER_HH_
 
#include <deque>
#include <memory>
#include <string>
#include <unordered_map>
 
#include <gz/msgs/dataframe.pb.h>
#include <gz/msgs/stringmsg_v.pb.h>
#include <gz/transport/Node.hh>
#include <gz/utils/ImplPtr.hh>
#include "gz/sim/config.hh"
#include "gz/sim/Entity.hh"
#include "gz/sim/System.hh"
 
namespace gz
{
namespace msgs
{
  // Forward declarations.
  class Dataframe;
}
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace comms
{
 
using DataQueue = std::deque<msgs::DataframeSharedPtr>;
 
using SubscriptionHandler =
  std::unordered_map<std::string, transport::Node::Publisher>;
 
struct AddressContent
{
  public: DataQueue inboundMsgs;
 
  public: DataQueue outboundMsgs;
 
  public: SubscriptionHandler subscriptions;
 
  public: std::string modelName;
 
  public: sim::Entity entity;
};
 
using Registry = std::unordered_map<std::string, AddressContent>;
 
class GZ_SIM_VISIBLE MsgManager
{
  public: MsgManager();
 
  public: bool AddSubscriber(const std::string &_address,
                             const std::string &_modelName,
                             const std::string &_topic);
 
  public: void AddInbound(const std::string &_address,
                          const msgs::DataframeSharedPtr &_msg);
 
  public: void AddOutbound(const std::string &_address,
                           const msgs::DataframeSharedPtr &_msg);
 
  public: bool RemoveSubscriber(const std::string &_address,
                                const std::string &_topic);
 
  public: bool RemoveInbound(const std::string &_address,
                             const msgs::DataframeSharedPtr &_msg);
 
  public: bool RemoveOutbound(const std::string &_address,
                              const msgs::DataframeSharedPtr &_msg);
 
  public: void DeliverMsgs();
 
  public: const Registry &DataConst() const;
 
  public: Registry &Data();
 
  public: Registry Copy() const;
 
  public: void Set(const Registry &_newContent);
 
  GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
};
}
}
}
}
 
#endif