137 lines
4.4 KiB
C++
137 lines
4.4 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 _MASTER_HH_
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#define _MASTER_HH_
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#include <string>
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#include <list>
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#include <deque>
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#include <utility>
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#include <map>
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#include <boost/shared_ptr.hpp>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/transport/Connection.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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// Forward declare private data class
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struct MasterPrivate;
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/// \class Master Master.hh gazebo_core.hh
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/// \brief A manager that directs topic connections, enables each gazebo
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/// network client to locate one another for peer-to-peer communication.
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class GAZEBO_VISIBLE Master
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{
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/// \def Map of unique id's to connections.
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public: typedef
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std::map<unsigned int, transport::ConnectionPtr> Connection_M;
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/// \def Map of publish messages to connections.
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public: typedef
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std::list< std::pair<msgs::Publish, transport::ConnectionPtr> >
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PubList;
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/// \def Map of subscribe messages to connections.
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public: typedef
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std::list< std::pair<msgs::Subscribe, transport::ConnectionPtr> >
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SubList;
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/// \brief Constructor
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public: Master();
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/// \brief Destructor
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public: virtual ~Master();
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/// \brief Initialize
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/// \param[in] _port The master's port
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public: void Init(uint16_t _port);
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/// \brief Run the master.
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public: void Run();
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/// \brief Run the master in a new thread
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public: void RunThread();
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/// \brief Run the master one iteration
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public: void RunOnce();
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/// \brief Stop the master
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public: void Stop();
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/// \brief Finalize the master
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public: void Fini();
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/// \brief Send a message to subscribers to a given topic
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/// \param[in] _topic Name of the topic
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/// \param[in] _buffer Data to write
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private: void SendSubscribers(const std::string &_topic,
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const std::string &_buffer);
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/// \brief Process a message
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/// \param[in] _connectionIndex Index of the connection which generated the
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/// message
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/// \param[i] _data The message data
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private: void ProcessMessage(const unsigned int _connectionIndex,
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const std::string &_data);
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/// \brief Connection read callback
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/// \param[in] _connectionIndex Index of the connection which generated the
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/// message
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/// \param[in] _data The message data
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private: void OnRead(const unsigned int _connectionIndex,
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const std::string &_data);
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/// \brief Accept a new connection
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/// \param[in] _newConnection The new connection
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private: void OnAccept(transport::ConnectionPtr _newConnection);
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/// \brief Get a publisher for the given topic
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/// \param[in] _topic Name of the topic
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/// \return A publish message
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private: msgs::Publish GetPublisher(const std::string &_topic);
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/// \brief Find a connection given a host and port
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/// \param[in] _host Host name
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/// \param[in] _port Port number
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/// \return The found connection, or NULL
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private: transport::ConnectionPtr FindConnection(const std::string &_host,
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uint16_t _port);
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/// \brief Remove a connection.
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/// \param[in] _connIter Iterator to the connection to remove.
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/// _connIter will be incremented when removed.
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private: void RemoveConnection(Connection_M::iterator _connIter);
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/// \brief Remove a publisher.
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/// \param[in] _pub Publish message that contains the info necessary to
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/// remove a publisher.
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private: void RemovePublisher(const msgs::Publish _pub);
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/// \brief Remove a subscriber.
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/// \param[in] _pub Subscribe message that contains the info necessary to
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/// remove a subscriber.
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private: void RemoveSubscriber(const msgs::Subscribe _sub);
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/// \internal
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/// \brief Pointer to private data.
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private: std::unique_ptr<MasterPrivate> dataPtr;
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};
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}
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#endif
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