103 lines
3.2 KiB
C++
103 lines
3.2 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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#ifndef _PUBLICATIONTRANSPORT_HH_
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#define _PUBLICATIONTRANSPORT_HH_
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#include <boost/function.hpp>
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#include <boost/shared_ptr.hpp>
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#include <string>
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#include "gazebo/transport/Connection.hh"
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#include "gazebo/common/Event.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace transport
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{
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/// \addtogroup gazebo_transport
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/// \{
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/// \class PublicationTransport PublicationTransport.hh
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/// transport/transport.hh
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/// \brief Reads data from a remote advertiser, and passes the data
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/// along to local subscribers
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class GZ_TRANSPORT_VISIBLE PublicationTransport
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{
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/// \brief Constructor
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/// \param[in] _topic Topic that we're publishing
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/// \param[in] _topic Type of the topic that we're publishing
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public: PublicationTransport(const std::string &_topic,
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const std::string &_msgType);
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/// \brief Destructor
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public: virtual ~PublicationTransport();
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/// \brief Initialize the transport
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/// \param[in] _conn The underlying connection.
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/// \param[in] _latched True to grab the last message sent on the
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/// topic.
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public: void Init(const ConnectionPtr &_conn, bool _latched);
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/// \brief Finalize the transport
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public: void Fini();
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/// \brief Add a callback to the transport
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/// \param[in] _cb The callback to be added
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public: void AddCallback(
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const boost::function<void(const std::string &)> &_cb);
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/// \brief Get the underlying connection
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/// \return Pointer to the underlying connection
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public: const ConnectionPtr GetConnection() const;
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/// \brief Get the topic name
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/// \return The topic name
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public: std::string GetTopic() const;
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/// \brief Get the topic type
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/// \return The topic type
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public: std::string GetMsgType() const;
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/// \brief Called when data is published.
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/// \param[in] _data Data to be published.
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private: void OnPublish(const std::string &_data);
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/// \brief The topic for this publication transport.
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private: std::string topic;
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/// \brief The type of messages that can be processed.
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private: std::string msgType;
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/// \brief The connection for the publication transport
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private: ConnectionPtr connection;
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/// \brief Callback used when OnPublish is called.
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private: boost::function<void (const std::string &)> callback;
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/// \brief Counter to give the publication transport a unique id.
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private: static int counter;
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/// \brief The unique id for the publication transport.
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private: int id;
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};
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/// \}
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}
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}
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#endif
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