201 lines
7.3 KiB
C++
201 lines
7.3 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 _CONNECTION_MANAGER_HH_
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#define _CONNECTION_MANAGER_HH_
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#include <boost/shared_ptr.hpp>
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#include <boost/interprocess/sync/interprocess_semaphore.hpp>
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#include <string>
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#include <list>
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#include <vector>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/common/SingletonT.hh"
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#include "gazebo/transport/Publisher.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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namespace transport
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{
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/// \addtogroup gazebo_transport
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/// \{
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/// \class ConnectionManager ConnectionManager.hh transport/transport.hh
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/// \brief Manager of connections
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class GZ_TRANSPORT_VISIBLE ConnectionManager :
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public SingletonT<ConnectionManager>
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{
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/// \brief Constructor
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private: ConnectionManager();
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/// \brief Destructor
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private: virtual ~ConnectionManager();
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/// \brief Initialize the connection manager.
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/// \param[in] _masterHost Host where the master is running.
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/// \param[in] _masterPort Port where the master is running.
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/// \param[in] _timeoutIterations Number of times to wait for
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/// a connection to master.
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/// \return true if initialization succeeded, false otherwise
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public: bool Init(const std::string &_masterHost,
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unsigned int _masterPort,
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uint32_t _timeoutIterations = 30);
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/// \brief Is the manager initialized?
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/// \return true if initialized, false otherwise
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public: bool IsInitialized() const;
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/// \brief Run the connection manager loop. Does not return until
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/// stopped.
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public: void Run();
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/// \brief Is the manager running?
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/// \return true if running, false otherwise
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public: bool IsRunning() const;
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/// \brief Finalize the connection manager
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public: void Fini();
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/// \brief Stop the conneciton manager
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public: void Stop();
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/// \brief Subscribe to a topic.
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/// \param[in] _topic The topic to subscribe to.
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/// \param[in] _msgType The type of the topic.
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/// \param[in] _latching If true, latch the latest incoming message;
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/// otherwise don't.
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public: void Subscribe(const std::string &_topic,
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const std::string &_msgType,
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bool _latching);
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/// \brief Unsubscribe from a topic
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/// \param[in] _sub A subscription object
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public: void Unsubscribe(const msgs::Subscribe &_sub);
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/// \brief Unsubscribe from a topic
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/// \param[in] _topic The topic to unsubscribe from
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/// \param[in] _msgType The type of the topic
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public: void Unsubscribe(const std::string &_topic,
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const std::string &_msgType);
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/// \brief Advertise a topic
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/// \param[in] _topic The topic to advertise
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/// \param[in] _msgType The type of the topic
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public: void Advertise(const std::string &_topic,
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const std::string &_msgType);
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/// \brief Unadvertise a topic
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/// \param[in] _topic The topic to unadvertise
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public: void Unadvertise(const std::string &_topic);
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/// \brief Explicitly update the publisher list
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/// \param[out] _publishers The updated list of publishers is written here
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public: void GetAllPublishers(std::list<msgs::Publish> &_publishers);
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/// \brief Remove a connection from the manager
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/// \param[in] _conn The connection to be removed
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public: void RemoveConnection(ConnectionPtr &_conn);
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/// \brief Register a new topic namespace
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/// \param[in] _name The name of the topic namespace to be registered
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public: void RegisterTopicNamespace(const std::string &_name);
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/// \brief Get all the topic namespaces
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/// \param[out] _namespaces The list of namespace is written here
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public: void GetTopicNamespaces(std::list<std::string> &_namespaces);
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/// \brief Find a connection that matches a host and port
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/// \param[in] _host The host of the connection
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/// \param[in] _port The port of the connection
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/// \return Pointer to the connection; can be null (if no match was found)
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private: ConnectionPtr FindConnection(const std::string &_host,
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unsigned int _port);
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/// \brief Connect to a remote server
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/// \param[in] _host Host to connect to
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/// \param[in] _port Port to connect to
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/// \return Pointer to the connection; can be null (if connection failed)
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public: ConnectionPtr ConnectToRemoteHost(const std::string &_host,
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unsigned int _port);
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/// \brief Inform the connection manager that it needs an update.
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public: void TriggerUpdate();
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/// \brief Callback function called when we have read data from the
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/// master
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/// \param[in] _data String of incoming data
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private: void OnMasterRead(const std::string &_data);
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/// \brief Callback function called when a connection is accepted
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/// \param[in] _newConnection Pointer to the new connection
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private: void OnAccept(ConnectionPtr _newConnection);
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/// \brief Callback function called when a connection is read
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/// \param[in] _newConnection Pointer to new connection
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/// \param[in] _data Data that has been read.
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private: void OnRead(ConnectionPtr _newConnection,
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const std::string &_data);
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/// \brief Process a raw message.
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/// \param[in] _packet The raw message data.
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private: void ProcessMessage(const std::string &_packet);
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/// \brief Run the manager update loop once
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private: void RunUpdate();
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/// \brief Condition used to trigger an update.
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private: boost::condition_variable updateCondition;
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/// \brief Mutex for updateCondition
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private: boost::mutex updateMutex;
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private: ConnectionPtr masterConn;
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private: Connection *serverConn;
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private: std::list<ConnectionPtr> connections;
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protected: std::vector<event::ConnectionPtr> eventConnections;
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private: bool initialized;
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private: bool stop, stopped;
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private: unsigned int tmpIndex;
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private: boost::recursive_mutex listMutex;
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/// \brief A namespace to protect the namespace list.
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private: boost::mutex namespaceMutex;
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private: boost::recursive_mutex masterMessagesMutex;
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private: boost::recursive_mutex connectionMutex;
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private: std::list<msgs::Publish> publishers;
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private: std::list<std::string> namespaces;
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private: std::list<std::string> masterMessages;
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/// \brief Condition used for synchronization
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private: boost::condition_variable namespaceCondition;
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// Singleton implementation
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private: friend class SingletonT<ConnectionManager>;
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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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