NodeShared.hh

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/*
 * Copyright (C) 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 GZ_TRANSPORT_NODESHARED_HH_
#define GZ_TRANSPORT_NODESHARED_HH_
 
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
#include <google/protobuf/message.h>
#ifdef _MSC_VER
#pragma warning(pop)
#endif
 
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include <thread>
#include <vector>
#include <map>
 
#include "gz/transport/config.hh"
#include "gz/transport/Export.hh"
#include "gz/transport/HandlerStorage.hh"
#include "gz/transport/Publisher.hh"
#include "gz/transport/RepHandler.hh"
#include "gz/transport/ReqHandler.hh"
#include "gz/transport/SubscriptionHandler.hh"
#include "gz/transport/TopicStorage.hh"
#include "gz/transport/TopicStatistics.hh"
#include "gz/transport/TransportTypes.hh"
#include "gz/transport/Uuid.hh"
 
namespace gz
{
  namespace transport
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
    //
    // Forward declarations.
    class Node;
    class NodePrivate;
 
    class NodeSharedPrivate;
 
    class GZ_TRANSPORT_VISIBLE NodeShared
    {
      public: static NodeShared *Instance();
 
      public: void RunReceptionTask();
 
      public: bool Publish(const std::string &_topic,
                           char *_data,
                           const size_t _dataSize,
                           DeallocFunc *_ffn,
                           const std::string &_msgType);
 
      public: void RecvMsgUpdate();
 
      public: struct HandlerInfo
      {
        public: std::map<std::string, ISubscriptionHandler_M> localHandlers;
 
        public: std::map<std::string, RawSubscriptionHandler_M> rawHandlers;
 
        public: bool haveLocal;
 
        public: bool haveRaw;
 
        // Friendship. This allows HandlerInfo to be created by
        // CheckHandlerInfo()
        friend class NodeShared;
 
        // TODO(sloretz) private default constructor (visual studio 2017?)
      };
 
      HandlerInfo CheckHandlerInfo(const std::string &_topic) const;
 
      public: struct SubscriberInfo : public HandlerInfo
      {
        // cppcheck-suppress unusedStructMember
        public: bool haveRemote;
 
        // Friendship declaration
        friend class NodeShared;
 
        // TODO(sloretz) private default constructor (visual studio 2017?)
      };
 
      SubscriberInfo CheckSubscriberInfo(
          const std::string &_topic,
          const std::string &_msgType) const;
 
      public: void TriggerCallbacks(
        const MessageInfo &_info,
        const std::string &_msgData,
        const HandlerInfo &_handlerInfo);
 
      public: void RecvSrvRequest();
 
      public: void RecvSrvResponse();
 
      public: void SendPendingRemoteReqs(const std::string &_topic,
                                         const std::string &_reqType,
                                         const std::string &_repType);
 
      public: void OnNewConnection(const MessagePublisher &_pub);
 
      public: void OnNewDisconnection(const MessagePublisher &_pub);
 
      public: void OnNewSrvConnection(const ServicePublisher &_pub);
 
      public: void OnNewSrvDisconnection(const ServicePublisher &_pub);
 
      public: void OnNewRegistration(const MessagePublisher &_pub);
 
      public: void OnEndRegistration(const MessagePublisher &_pub);
 
      public: void OnSubscribers();
 
      //  there is at least one publisher.
      public: bool TopicPublishers(const std::string &_topic,
                                   SrvAddresses_M &_publishers) const;
 
      public: bool DiscoverService(const std::string &_topic) const;
 
      public: bool AdvertisePublisher(const ServicePublisher &_publisher);
 
      public: int RcvHwm();
 
      public: int SndHwm();
 
      public: void EnableStats(const std::string &_topic, bool _enable,
                  std::function<void(const TopicStatistics &_stats)> _cb);
 
      public: std::optional<TopicStatistics> TopicStats(
                  const std::string &_topic) const;
 
      protected: NodeShared();
 
      protected: virtual ~NodeShared();
 
      private: bool InitializeSockets();
 
 
      public: Uuid responseReceiverId;
 
      public: Uuid replierId;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      public: std::string pUuid;
 
      public: std::thread threadReception;
 
      public: mutable std::recursive_mutex mutex;
 
      public: std::string discoveryIP = "239.255.0.7";
 
      public: static const int kDefaultMsgDiscPort = 10317;
 
      public: static const int kDefaultSrvDiscPort = 10318;
 
      public: int msgDiscPort = kDefaultMsgDiscPort;
 
      public: int srvDiscPort = kDefaultSrvDiscPort;
 
      private: TopicStorage<MessagePublisher> connections;
 
      private: std::vector<std::string> srvConnections;
 
      public: TopicStorage<MessagePublisher> remoteSubscribers;
#ifdef _WIN32
#pragma warning(pop)
#endif
 
      struct HandlerWrapper
      {
        public: bool HasSubscriber(
            const std::string &_fullyQualifiedTopic,
            const std::string &_msgType) const;
 
        public: bool HasSubscriber(
            const std::string &_fullyQualifiedTopic) const;
 
        public: std::vector<std::string> NodeUuids(
            const std::string &_fullyQualifiedTopic,
            const std::string &_msgTypeName) const;
 
        public: bool RemoveHandlersForNode(
            const std::string &_fullyQualifiedTopic,
            const std::string &_nUuid);
 
        public: std::vector<MessagePublisher> Convert(const std::string &_addr,
            const std::string &_pUuid);
 
        public: HandlerStorage<ISubscriptionHandler> normal;
 
        public: HandlerStorage<RawSubscriptionHandler> raw;
      };
 
      public: HandlerWrapper localSubscribers;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      public: HandlerStorage<IRepHandler> repliers;
 
      public: HandlerStorage<IReqHandler> requests;
 
      public: int verbose;
 
      public: std::string myAddress;
 
      public: std::string myControlAddress;
 
      public: std::string myRequesterAddress;
 
      public: std::string myReplierAddress;
 
      public: std::string hostAddr;
 
      private: std::unique_ptr<NodeSharedPrivate> dataPtr;
#ifdef _WIN32
#pragma warning(pop)
#endif
      private: friend Node;
      private: friend NodePrivate;
    };
    }
  }
}
#endif