ConnectionManager.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _CONNECTION_MANAGER_HH_
#define _CONNECTION_MANAGER_HH_
 
 
#include <boost/shared_ptr.hpp>
#include <boost/interprocess/sync/interprocess_semaphore.hpp>
#include <string>
#include <list>
#include <vector>
 
#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/SingletonT.hh"
 
#include "gazebo/transport/Connection.hh"
#include "gazebo/transport/Publisher.hh"
#if TBB_VERSION_MAJOR >= 2021
#include "gazebo/transport/TaskGroup.hh"
#endif
#include "gazebo/util/system.hh"
 
GZ_SINGLETON_DECLARE(GZ_TRANSPORT_VISIBLE, gazebo, transport, ConnectionManager)
 
namespace gazebo
{
  namespace transport
  {
 
    class GZ_TRANSPORT_VISIBLE ConnectionManager :
      public SingletonT<ConnectionManager>
    {
      private: ConnectionManager();
 
      private: virtual ~ConnectionManager();
 
      public: bool Init(const std::string &_masterHost,
                        unsigned int _masterPort,
                        uint32_t _timeoutIterations = 30);
 
      public: bool IsInitialized() const;
 
      public: void Run();
 
      public: bool IsRunning() const;
 
      public: void Fini();
 
      public: void Stop();
 
      public: void Subscribe(const std::string &_topic,
                              const std::string &_msgType,
                              bool _latching);
 
      public: void Unsubscribe(const msgs::Subscribe &_sub);
 
      public: void Unsubscribe(const std::string &_topic,
                                const std::string &_msgType);
 
      public: void Advertise(const std::string &_topic,
                              const std::string &_msgType);
 
      public: void Unadvertise(const std::string &_topic);
 
      public: void GetAllPublishers(std::list<msgs::Publish> &_publishers);
 
      public: void RemoveConnection(ConnectionPtr &_conn);
 
      public: void RegisterTopicNamespace(const std::string &_name);
 
      public: void GetTopicNamespaces(std::list<std::string> &_namespaces);
 
      private: ConnectionPtr FindConnection(const std::string &_host,
                                            unsigned int _port);
 
      public: ConnectionPtr ConnectToRemoteHost(const std::string &_host,
                                                  unsigned int _port);
 
      public: void TriggerUpdate();
 
      private: void OnMasterRead(const std::string &_data);
 
      private: void OnAccept(ConnectionPtr _newConnection);
 
      private: void OnRead(ConnectionPtr _newConnection,
                           const std::string &_data);
 
      private: void ProcessMessage(const std::string &_packet);
 
      private: void RunUpdate();
 
      private: boost::condition_variable updateCondition;
 
      private: boost::mutex updateMutex;
 
      private: ConnectionPtr masterConn;
      private: ConnectionPtr serverConn;
 
      private: std::list<ConnectionPtr> connections;
      protected: std::vector<event::ConnectionPtr> eventConnections;
 
      private: bool initialized;
      private: bool stop, stopped;
 
      private: unsigned int tmpIndex;
      private: boost::recursive_mutex listMutex;
 
      private: boost::mutex namespaceMutex;
      private: boost::recursive_mutex masterMessagesMutex;
      private: boost::recursive_mutex connectionMutex;
 
      private: std::list<msgs::Publish> publishers;
      private: std::list<std::string> namespaces;
      private: std::list<std::string> masterMessages;
 
      private: boost::condition_variable namespaceCondition;
 
#if TBB_VERSION_MAJOR >= 2021
      private: TaskGroup taskGroup;
#endif
 
      // Singleton implementation
      private: friend class SingletonT<ConnectionManager>;
    };
  }
}
#endif