134 lines
3.7 KiB
C++
134 lines
3.7 KiB
C++
/*
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* Copyright (C) 2012 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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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <boost/bind.hpp>
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#include <boost/function.hpp>
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#include "gazebo/transport/TopicManager.hh"
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#include "gazebo/transport/ConnectionManager.hh"
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#include "gazebo/transport/PublicationTransport.hh"
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using namespace gazebo;
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using namespace transport;
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int PublicationTransport::counter = 0;
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/////////////////////////////////////////////////
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PublicationTransport::PublicationTransport(const std::string &_topic,
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const std::string &_msgType)
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: topic(_topic), msgType(_msgType)
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{
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this->id = counter++;
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TopicManager::Instance()->UpdatePublications(this->topic, this->msgType);
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}
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/////////////////////////////////////////////////
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PublicationTransport::~PublicationTransport()
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{
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if (this->connection)
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{
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msgs::Subscribe sub;
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sub.set_topic(this->topic);
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sub.set_msg_type(this->msgType);
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sub.set_host(this->connection->GetLocalAddress());
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sub.set_port(this->connection->GetLocalPort());
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ConnectionManager::Instance()->Unsubscribe(sub);
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this->connection->Cancel();
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this->connection.reset();
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ConnectionManager::Instance()->RemoveConnection(this->connection);
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}
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this->callback.clear();
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}
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/////////////////////////////////////////////////
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void PublicationTransport::Init(const ConnectionPtr &_conn, bool _latched)
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{
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this->connection = _conn;
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msgs::Subscribe sub;
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sub.set_topic(this->topic);
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sub.set_msg_type(this->msgType);
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sub.set_host(this->connection->GetLocalAddress());
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sub.set_port(this->connection->GetLocalPort());
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sub.set_latching(_latched);
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this->connection->EnqueueMsg(msgs::Package("sub", sub));
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// Put this in PublicationTransportPtr
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// Start reading messages from the remote publisher
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this->connection->AsyncRead(boost::bind(&PublicationTransport::OnPublish,
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this, _1));
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}
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/////////////////////////////////////////////////
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void PublicationTransport::AddCallback(
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const boost::function<void(const std::string &)> &cb_)
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{
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this->callback = cb_;
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}
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/////////////////////////////////////////////////
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void PublicationTransport::OnPublish(const std::string &_data)
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{
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if (this->connection && this->connection->IsOpen())
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{
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this->connection->AsyncRead(
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boost::bind(&PublicationTransport::OnPublish, this, _1));
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if (!_data.empty())
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{
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if (this->callback)
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(this->callback)(_data);
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}
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}
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}
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/////////////////////////////////////////////////
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const ConnectionPtr PublicationTransport::GetConnection() const
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{
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return this->connection;
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}
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/////////////////////////////////////////////////
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std::string PublicationTransport::GetTopic() const
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{
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return this->topic;
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}
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/////////////////////////////////////////////////
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std::string PublicationTransport::GetMsgType() const
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{
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return this->msgType;
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}
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/////////////////////////////////////////////////
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void PublicationTransport::Fini()
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{
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/// Cancel all async operatiopns.
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if (this->connection)
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{
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this->connection->Cancel();
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// this->connection.reset();
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}
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}
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