18#ifndef GAZEBO_TRANSPORT_NODE_HH_
19#define GAZEBO_TRANSPORT_NODE_HH_
24#include <boost/bind.hpp>
25#include <boost/enable_shared_from_this.hpp>
41 class GZ_TRANSPORT_VISIBLE PublishTask :
public tbb::task
46 public: PublishTask(transport::PublisherPtr _pub,
47 const google::protobuf::Message &_message)
50 this->msg = _message.New();
51 this->msg->CopyFrom(_message);
56 public: tbb::task *execute()
58 this->pub->WaitForConnection();
59 this->pub->Publish(*this->msg,
true);
60 this->pub->SendMessage();
67 private: transport::PublisherPtr pub;
70 private: google::protobuf::Message *msg;
80 class GZ_TRANSPORT_VISIBLE
Node :
81 public boost::enable_shared_from_this<Node>
97 public:
void Init(
const std::string &_space =
"");
159 public:
template<
typename M>
161 const google::protobuf::Message &_message)
164 PublishTask *task =
new(tbb::task::allocate_root())
165 PublishTask(pub, _message);
167 tbb::task::enqueue(*task);
178 public:
template<
typename M>
180 unsigned int _queueLimit = 1000,
183 std::string decodedTopic = this->DecodeTopicName(_topic);
185 transport::TopicManager::Instance()->Advertise<M>(
186 decodedTopic, _queueLimit, _hzRate);
188 boost::mutex::scoped_lock lock(this->publisherMutex);
189 publisher->SetNode(shared_from_this());
190 this->publishers.push_back(publisher);
201 public:
void Publish(
const std::string &_topic,
202 const google::protobuf::Message &_message)
205 _message.GetTypeName());
206 pub->WaitForConnection();
208 pub->Publish(_message,
true);
219 const std::string &_msgTypeName,
220 unsigned int _queueLimit = 1000,
223 std::string decodedTopic = this->DecodeTopicName(_topic);
225 transport::TopicManager::Instance()->Advertise(
226 decodedTopic, _msgTypeName, _queueLimit, _hzRate);
228 boost::mutex::scoped_lock lock(this->publisherMutex);
229 publisher->SetNode(shared_from_this());
230 this->publishers.push_back(publisher);
242 public:
template<
typename M,
typename T>
244 void(T::*_fp)(const
boost::shared_ptr<M const> &), T *_obj,
245 bool _latching = false)
248 std::string decodedTopic = this->DecodeTopicName(_topic);
249 ops.template Init<M>(decodedTopic, shared_from_this(), _latching);
252 boost::recursive_mutex::scoped_lock lock(this->incomingMutex);
258 transport::TopicManager::Instance()->Subscribe(ops);
260 result->SetCallbackId(this->callbacks[decodedTopic].back()->GetId());
271 public:
template<
typename M>
273 void(*_fp)(
const boost::shared_ptr<M const> &),
274 bool _latching =
false)
277 std::string decodedTopic = this->DecodeTopicName(_topic);
278 ops.template Init<M>(decodedTopic, shared_from_this(), _latching);
281 boost::recursive_mutex::scoped_lock lock(this->incomingMutex);
282 this->callbacks[decodedTopic].push_back(
287 transport::TopicManager::Instance()->Subscribe(ops);
289 result->SetCallbackId(this->callbacks[decodedTopic].back()->GetId());
303 void(T::*_fp)(const
std::string &), T *_obj,
304 bool _latching = false)
307 std::string decodedTopic = this->DecodeTopicName(_topic);
308 ops.
Init(decodedTopic, shared_from_this(), _latching);
311 boost::recursive_mutex::scoped_lock lock(this->incomingMutex);
317 transport::TopicManager::Instance()->Subscribe(ops);
319 result->SetCallbackId(this->callbacks[decodedTopic].back()->GetId());
332 void(*_fp)(
const std::string &),
bool _latching =
false)
335 std::string decodedTopic = this->DecodeTopicName(_topic);
336 ops.
Init(decodedTopic, shared_from_this(), _latching);
339 boost::recursive_mutex::scoped_lock lock(this->incomingMutex);
340 this->callbacks[decodedTopic].push_back(
345 transport::TopicManager::Instance()->Subscribe(ops);
347 result->SetCallbackId(this->callbacks[decodedTopic].back()->GetId());
357 const std::string &_msg);
372 const std::string &_msg);
386 public: std::string
GetMsgType(
const std::string &_topic)
const;
406 private:
bool PrivateInit(
const std::string &_space,
408 const bool _fallbackToDefault);
410 private: std::string topicNamespace;
411 private: std::vector<PublisherPtr> publishers;
412 private: std::vector<PublisherPtr>::iterator publishersIter;
413 private:
static unsigned int idCounter;
414 private:
unsigned int id;
416 private:
typedef std::list<CallbackHelperPtr> Callback_L;
417 private:
typedef std::map<std::string, Callback_L> Callback_M;
418 private: Callback_M callbacks;
419 private: std::map<std::string, std::list<std::string> > incomingMsgs;
422 private: std::map<std::string, std::list<MessagePtr> > incomingMsgsLocal;
424 private: boost::mutex publisherMutex;
425 private: boost::mutex publisherDeleteMutex;
426 private: boost::recursive_mutex incomingMutex;
430 private: boost::recursive_mutex processIncomingMutex;
432 private:
bool initialized;
#define NULL
Definition CommonTypes.hh:31
transport
Definition ConnectionManager.hh:35
Forward declarations for transport.
static TopicManager * Instance()
Get an instance of the singleton.
Definition SingletonT.hh:36
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Callback helper Template.
Definition CallbackHelper.hh:112
A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topi...
Definition Node.hh:82
void Fini()
Finalize the node.
SubscriberPtr Subscribe(const std::string &_topic, void(*_fp)(const boost::shared_ptr< M const > &), bool _latching=false)
Subscribe to a topic using a bare function as the callback.
Definition Node.hh:272
std::string GetTopicNamespace() const
Get the topic namespace for this node.
void InsertLatchedMsg(const std::string &_topic, MessagePtr _msg)
Add a latched message to the node for publication.
SubscriberPtr Subscribe(const std::string &_topic, void(T::*_fp)(const std::string &), T *_obj, bool _latching=false)
Subscribe to a topic using a class method as the callback.
Definition Node.hh:302
transport::PublisherPtr Advertise(const std::string &_topic, const std::string &_msgTypeName, unsigned int _queueLimit=1000, double _hzRate=0)
Advertise a topic.
Definition Node.hh:218
bool IsInitialized() const
Check if this Node has been initialized.
unsigned int GetId() const
Get the unique ID of the node.
bool HandleMessage(const std::string &_topic, MessagePtr _msg)
Handle incoming msg.
transport::PublisherPtr Advertise(const std::string &_topic, unsigned int _queueLimit=1000, double _hzRate=0)
Advertise a topic.
Definition Node.hh:179
void ProcessIncoming()
Process incoming messages.
void Publish(const std::string &_topic, const google::protobuf::Message &_message)
A convenience function for a one-time publication of a message.
Definition Node.hh:201
std::string DecodeTopicName(const std::string &_topic)
Decode a topic name.
bool HasLatchedSubscriber(const std::string &_topic) const
Return true if a subscriber on a specific topic is latched.
void Init(const std::string &_space="")
Init the node.
void InsertLatchedMsg(const std::string &_topic, const std::string &_msg)
Add a latched message to the node for publication.
std::string GetMsgType(const std::string &_topic) const
Get the message type for a topic.
SubscriberPtr Subscribe(const std::string &_topic, void(T::*_fp)(const boost::shared_ptr< M const > &), T *_obj, bool _latching=false)
Subscribe to a topic using a class method as the callback.
Definition Node.hh:243
virtual ~Node()
Destructor.
bool HandleData(const std::string &_topic, const std::string &_msg)
Handle incoming data.
void RemoveCallback(const std::string &_topic, unsigned int _id)
void ProcessPublishers()
Process all publishers, which has each publisher send it's most recent message over the wire.
void Publish(const std::string &_topic, const google::protobuf::Message &_message)
A convenience function for a one-time publication of a message.
Definition Node.hh:160
bool TryInit(const common::Time &_maxWait=common::Time(1, 0))
Try to initialize the node to use the global namespace, and specify the maximum wait time.
std::string EncodeTopicName(const std::string &_topic)
Encode a topic name.
SubscriberPtr Subscribe(const std::string &_topic, void(*_fp)(const std::string &), bool _latching=false)
Subscribe to a topic using a bare function as the callback.
Definition Node.hh:331
Used to connect publishers to subscribers, where the subscriber wants the raw data from the publisher...
Definition CallbackHelper.hh:178
Options for a subscription.
Definition SubscribeOptions.hh:36
void Init(const std::string &_topic, NodePtr _node, bool _latching)
Initialize the options.
Definition SubscribeOptions.hh:48
boost::shared_ptr< CallbackHelper > CallbackHelperPtr
boost shared pointer to transport::CallbackHelper
Definition CallbackHelper.hh:105
Definition JointMaker.hh:45
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< google::protobuf::Message > MessagePtr
Definition TransportTypes.hh:45
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
Forward declarations for the common classes.
Definition Animation.hh:27