Gazebo Transport
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14.1.0
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src
gz-transport
include
gz
transport
NodeShared.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_TRANSPORT_NODESHARED_HH_
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#define GZ_TRANSPORT_NODESHARED_HH_
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#ifdef _MSC_VER
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#pragma warning(push)
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#pragma warning(disable: 4251)
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#endif
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#include <google/protobuf/message.h>
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#ifdef _MSC_VER
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#pragma warning(pop)
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#endif
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#include <memory>
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#include <mutex>
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#include <optional>
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#include <string>
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#include <thread>
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#include <vector>
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#include <map>
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#include <unordered_set>
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#include "gz/transport/config.hh"
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#include "gz/transport/Export.hh"
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#include "
gz/transport/HandlerStorage.hh
"
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#include "
gz/transport/NodeOptions.hh
"
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#include "
gz/transport/Publisher.hh
"
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#include "
gz/transport/RepHandler.hh
"
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#include "
gz/transport/ReqHandler.hh
"
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#include "
gz/transport/SubscriptionHandler.hh
"
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#include "
gz/transport/TopicStorage.hh
"
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#include "
gz/transport/TopicStatistics.hh
"
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#include "
gz/transport/TransportTypes.hh
"
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#include "
gz/transport/Uuid.hh
"
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namespace
gz::transport
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_TRANSPORT_VERSION_NAMESPACE {
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//
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// Forward declarations.
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class
Node;
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class
NodePrivate;
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class
NodeSharedPrivate;
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class
GZ_TRANSPORT_VISIBLE
NodeShared
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{
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public
:
static
NodeShared
*
Instance
();
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public
:
void
RunReceptionTask
();
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public
:
bool
Publish
(
const
std::string
&_topic,
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char
*_data,
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const
size_t
_dataSize,
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DeallocFunc
*_ffn,
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const
std::string
&_msgType);
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public
:
void
RecvMsgUpdate
();
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public
:
struct
HandlerInfo
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{
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public
:
std::map<std::string, ISubscriptionHandler_M>
localHandlers
;
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public
:
std::map<std::string, RawSubscriptionHandler_M>
rawHandlers
;
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public
:
bool
haveLocal
;
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public
:
bool
haveRaw
;
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// Friendship. This allows HandlerInfo to be created by
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// CheckHandlerInfo()
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friend
class
NodeShared
;
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// TODO(sloretz) private default constructor (visual studio 2017?)
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};
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HandlerInfo
CheckHandlerInfo
(
const
std::string
&_topic)
const
;
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public
:
struct
SubscriberInfo
:
public
HandlerInfo
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{
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// cppcheck-suppress unusedStructMember
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public
:
bool
haveRemote
;
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// Friendship declaration
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friend
class
NodeShared
;
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// TODO(sloretz) private default constructor (visual studio 2017?)
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};
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SubscriberInfo
CheckSubscriberInfo
(
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const
std::string
&_topic,
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const
std::string
&_msgType)
const
;
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public
:
void
TriggerCallbacks
(
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const
MessageInfo
&_info,
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const
std::string
&_msgData,
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const
HandlerInfo
&_handlerInfo);
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public
:
void
RecvSrvRequest
();
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public
:
void
RecvSrvResponse
();
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public
:
void
SendPendingRemoteReqs
(
const
std::string
&_topic,
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const
std::string
&_reqType,
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const
std::string
&_repType);
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public
:
void
OnNewConnection
(
const
MessagePublisher
&_pub);
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public
:
void
OnNewDisconnection
(
const
MessagePublisher
&_pub);
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public
:
void
OnNewSrvConnection
(
const
ServicePublisher
&_pub);
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public
:
void
OnNewSrvDisconnection
(
const
ServicePublisher
&_pub);
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public
:
void
OnNewRegistration
(
const
MessagePublisher
&_pub);
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public
:
void
OnEndRegistration
(
const
MessagePublisher
&_pub);
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public
:
void
OnSubscribers
();
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// there is at least one publisher.
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public
:
bool
TopicPublishers
(
const
std::string
&_topic,
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SrvAddresses_M
&_publishers)
const
;
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public
:
bool
DiscoverService
(
const
std::string
&_topic)
const
;
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public
:
bool
AdvertisePublisher
(
const
ServicePublisher
&_publisher);
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public
:
int
RcvHwm
();
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public
:
int
SndHwm
();
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public
:
void
EnableStats
(
const
std::string
&_topic,
bool
_enable,
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std::function
<
void
(
const
TopicStatistics
&_stats)> _cb);
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public
: std::optional<TopicStatistics>
TopicStats
(
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const
std::string
&_topic)
const
;
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public
:
void
AddGlobalRelay
(
const
std::string
& _relayAddress);
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public
:
std::vector<std::string>
GlobalRelays
()
const
;
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public
:
bool
Unsubscribe
(
const
std::string
&_topic,
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const
std::string
&_nUuid,
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const
NodeOptions
&_nOpt,
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const
std::string
&_hUuid =
""
);
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private
:
std::unordered_set<std::string>
&TopicsSubscribed(
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const
std::string
&_nUuid)
const
;
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private
:
bool
RemoveSubscribedTopic(
const
std::string
&_topic,
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const
std::string
&_nUuid);
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public
:
bool
RemoveHandlersFromPubQueue
(
const
std::string
&_topic,
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const
std::string
&_nUuid);
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public
:
bool
RemoveHandlerFromPubQueue
(
const
std::string
&_topic,
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const
std::string
&_nUuid,
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const
std::string
&_hUuid);
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public
:
bool
SubscribeHelper
(
const
std::string
&_fullyQualifiedTopic,
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const
std::string
&_nUuid);
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protected
:
NodeShared
();
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protected
:
virtual
~NodeShared
();
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private
:
bool
InitializeSockets();
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public
:
Uuid
responseReceiverId
;
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public
:
Uuid
replierId
;
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#ifdef _WIN32
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// Disable warning C4251 which is triggered by
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// std::unique_ptr
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#pragma warning(push)
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#pragma warning(disable: 4251)
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#endif
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public
:
std::string
pUuid
;
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public
:
std::thread
threadReception
;
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public
:
mutable
std::recursive_mutex
mutex
;
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public
:
std::string
discoveryIP =
"239.255.0.7"
;
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public
:
static
const
int
kDefaultMsgDiscPort = 10317;
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public
:
static
const
int
kDefaultSrvDiscPort = 10318;
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public
:
int
msgDiscPort = kDefaultMsgDiscPort;
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public
:
int
srvDiscPort = kDefaultSrvDiscPort;
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private
:
TopicStorage<MessagePublisher>
connections;
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private
:
std::vector<std::string>
srvConnections;
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public
:
TopicStorage<MessagePublisher>
remoteSubscribers
;
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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struct
HandlerWrapper
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{
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public
:
bool
HasSubscriber
(
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const
std::string
&_fullyQualifiedTopic,
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const
std::string
&_msgType)
const
;
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public
:
bool
HasSubscriber
(
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const
std::string
&_fullyQualifiedTopic)
const
;
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public
:
bool
HasSubscriberForNode
(
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const
std::string
&_fullyQualifiedTopic,
const
std::string
&_nUuid)
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const
;
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public
:
std::vector<std::string>
NodeUuids
(
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const
std::string
&_fullyQualifiedTopic,
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const
std::string
&_msgTypeName)
const
;
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public
:
bool
RemoveHandlersForNode
(
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const
std::string
&_fullyQualifiedTopic,
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const
std::string
&_nUuid);
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public
:
bool
RemoveHandler
(
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const
std::string
&_fullyQualifiedTopic,
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const
std::string
&_nUuid,
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const
std::string
&_hUuid);
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public
:
std::vector<MessagePublisher>
Convert
(
const
std::string
&_addr,
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const
std::string
&_pUuid);
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public
:
HandlerStorage<ISubscriptionHandler>
normal
;
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public
:
HandlerStorage<RawSubscriptionHandler>
raw
;
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};
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public
:
HandlerWrapper
localSubscribers
;
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#ifdef _WIN32
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// Disable warning C4251 which is triggered by
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// std::unique_ptr
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#pragma warning(push)
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#pragma warning(disable: 4251)
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#endif
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public
:
HandlerStorage<IRepHandler>
repliers
;
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public
:
HandlerStorage<IReqHandler>
requests
;
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public
:
int
verbose
;
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public
:
std::string
myAddress
;
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public
:
std::string
myControlAddress
;
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public
:
std::string
myRequesterAddress
;
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public
:
std::string
myReplierAddress
;
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public
:
std::string
hostAddr
;
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private
:
std::unique_ptr<NodeSharedPrivate>
dataPtr;
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#ifdef _WIN32
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#pragma warning(pop)
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#endif
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private
:
friend
Node
;
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private
:
friend
NodePrivate;
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};
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}
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}
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#endif