TopicManager.hh

Go to the documentation of this file.

/*
 * 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 GAZEBO_TRANSPORT_TOPICMANAGER_HH_
#define GAZEBO_TRANSPORT_TOPICMANAGER_HH_
 
// This fixes compiler warnings, see #3147 and #3160
#ifndef BOOST_BIND_GLOBAL_PLACEHOLDERS
#define BOOST_BIND_GLOBAL_PLACEHOLDERS
#endif
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <map>
#include <list>
#include <string>
#include <vector>
#include <boost/unordered/unordered_set.hpp>
 
#include "gazebo/common/Assert.hh"
#include "gazebo/common/Exception.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/SingletonT.hh"
 
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/transport/SubscribeOptions.hh"
#include "gazebo/transport/SubscriptionTransport.hh"
#include "gazebo/transport/PublicationTransport.hh"
#include "gazebo/transport/ConnectionManager.hh"
#include "gazebo/transport/Publisher.hh"
#include "gazebo/transport/Publication.hh"
#include "gazebo/transport/Subscriber.hh"
#include "gazebo/util/system.hh"
 
GZ_SINGLETON_DECLARE(GZ_TRANSPORT_VISIBLE, gazebo, transport, TopicManager)
 
namespace gazebo
{
  namespace transport
  {
 
    class GZ_TRANSPORT_VISIBLE TopicManager : public SingletonT<TopicManager>
    {
      private: TopicManager();
      private: virtual ~TopicManager();
 
      public: void Init();
 
      public: void Fini();
 
      public: PublicationPtr FindPublication(const std::string &_topic);
 
      public: void AddNode(NodePtr _node);
 
      public: void RemoveNode(unsigned int _id);
 
      public: void ProcessNodes(bool _onlyOut = false);
 
      public: SubscriberPtr Subscribe(const SubscribeOptions &_options);
 
      public: void Unsubscribe(const std::string &_topic, const NodePtr &_sub);
 
      public: PublisherPtr Advertise(const std::string &_topic,
                                     const std::string &_msgTypeName,
                                     unsigned int _queueLimit,
                                     double _hzRate)
              {
                this->UpdatePublications(_topic, _msgTypeName);
 
                PublisherPtr pub = PublisherPtr(new Publisher(_topic,
                      _msgTypeName, _queueLimit, _hzRate));
 
                // Connect all local subscription to the publisher
                PublicationPtr publication = this->FindPublication(_topic);
                GZ_ASSERT(publication != nullptr,
                    "FindPublication returned nullptr");
 
                publication->AddPublisher(pub);
                if (!publication->GetLocallyAdvertised())
                {
                  ConnectionManager::Instance()->Advertise(_topic,
                      _msgTypeName);
                }
 
                publication->SetLocallyAdvertised(true);
                pub->SetPublication(publication);
 
                for (auto &iter2 : this->subscribedNodes)
                {
                  if (iter2.first == _topic)
                  {
                    for (const auto &liter : iter2.second)
                    {
                      publication->AddSubscription(liter);
                    }
                  }
                }
 
                return pub;
              }
 
      public: template<typename M>
              PublisherPtr Advertise(const std::string &_topic,
                                     unsigned int _queueLimit,
                                     double _hzRate)
              {
                google::protobuf::Message *msg = nullptr;
                M msgtype;
                msg = dynamic_cast<google::protobuf::Message *>(&msgtype);
                if (!msg)
                  gzthrow("Advertise requires a google protobuf type");
 
                return this->Advertise(_topic, msg->GetTypeName(), _queueLimit,
                        _hzRate);
              }
 
      public: void Unadvertise(const std::string &_topic);
 
      public: void Unadvertise(PublisherPtr _pub);
 
      public: void Unadvertise(const std::string &_topic, const uint32_t _id);
 
      public: void Publish(const std::string &_topic, MessagePtr _message,
                  boost::function<void(uint32_t)> _cb, uint32_t _id);
 
      public: void ConnectPubToSub(const std::string &_topic,
                                    const SubscriptionTransportPtr _sublink);
 
      public: void ConnectSubToPub(const msgs::Publish &_pub);
 
      public: void DisconnectPubFromSub(const std::string &_topic,
                                         const std::string &_host,
                                         unsigned int _port);
 
      public: void DisconnectSubFromPub(const std::string &_topic,
                                         const std::string &_host,
                                         unsigned int _port);
 
      public: void ConnectSubscribers(const std::string &_topic);
 
      public: PublicationPtr UpdatePublications(const std::string &_topic,
                                                const std::string &_msgType);
 
      public: void RegisterTopicNamespace(const std::string &_name);
 
      public: void GetTopicNamespaces(std::list<std::string> &_namespaces);
 
      public: void ClearBuffers();
 
      public: void PauseIncoming(bool _pause);
 
      public: void AddNodeToProcess(NodePtr _ptr);
 
      typedef std::map<std::string, std::list<NodePtr> > SubNodeMap;
 
      private: typedef std::map<std::string, PublicationPtr> PublicationPtr_M;
      private: PublicationPtr_M advertisedTopics;
      private: PublicationPtr_M::iterator advertisedTopicsEnd;
      private: SubNodeMap subscribedNodes;
      private: std::vector<NodePtr> nodes;
 
      private: boost::unordered_set<NodePtr> nodesToProcess;
 
      private: boost::recursive_mutex nodeMutex;
 
      private: boost::mutex subscriberMutex;
 
      private: boost::mutex processNodesMutex;
 
      private: bool pauseIncoming;
 
      // Singleton implementation
      private: friend class SingletonT<TopicManager>;
    };
  }
}
#endif