18#ifndef _PUBLICATION_HH_
19#define _PUBLICATION_HH_
22#include <boost/function.hpp>
23#include <boost/shared_ptr.hpp>
24#include <boost/thread/mutex.hpp>
46 public boost::enable_shared_from_this<Publication>
52 const std::string &_msgType);
126 boost::function<
void(uint32_t)> _cb,
161 public:
bool HasTransport(
const std::string &_host,
unsigned int _port);
168 private:
void RemoveNodes();
171 private:
unsigned int id;
174 private:
static unsigned int idCounter;
177 private: std::string topic;
180 private: std::string msgType;
183 private: std::list<CallbackHelperPtr> callbacks;
186 private: std::list<NodePtr> nodes;
189 private: std::list<unsigned int> removeNodes;
192 private: std::list<std::pair<std::string, unsigned int> > removeCallbacks;
195 private: std::list<PublicationTransportPtr> transports;
198 private: std::vector<PublisherPtr> publishers;
201 private:
bool locallyAdvertised;
204 private:
mutable boost::mutex nodeMutex;
207 private:
mutable boost::mutex callbackMutex;
210 private:
mutable boost::mutex nodeRemoveMutex;
213 private: std::map<uint32_t, MessagePtr> prevMsgs;
transport
Definition ConnectionManager.hh:35
Forward declarations for transport.
A publication for a topic.
Definition Publication.hh:47
void RemoveTransport(const std::string &_host, unsigned int _port)
Remove a transport.
MessagePtr GetPrevMsg(uint32_t _pubId)
Get a previous message for a publisher.
void AddSubscription(const CallbackHelperPtr _callback)
Subscribe a callback to our topic.
void LocalPublish(const std::string &_data)
Publish data to local subscribers (skip serialization)
unsigned int GetRemoteSubscriptionCount()
Get the number of remote subscriptions.
void AddTransport(const PublicationTransportPtr &_publink)
Add a transport.
unsigned int PublisherCount() const
Get the number of publishers.
int Publish(MessagePtr _msg, boost::function< void(uint32_t)> _cb, uint32_t _id)
Publish data to remote subscribers.
void SetPrevMsg(uint32_t _pubId, MessagePtr _msg)
Set the previous message for a publisher.
unsigned int GetCallbackCount() const
Get the number of callbacks.
void AddPublisher(PublisherPtr _pub)
Add a publisher.
void ClearPrevMsgs()
Clear all previous messages for a publisher.
unsigned int GetNodeCount() const
Get the number of nodes.
void AddSubscription(const NodePtr &_node)
Subscribe a node to our topic.
std::string GetMsgType() const
Get the type of message.
void RemoveSubscription(const std::string &_host, unsigned int _port)
Unsubscribe a a node by host/port from our topic.
bool HasTransport(const std::string &_host, unsigned int _port)
Does a given transport exist?
void RemoveSubscription(const NodePtr &_node)
Unsubscribe a node from our topic.
unsigned int GetTransportCount() const
Get the number of transports.
bool RemovePublisher(const uint32_t id)
Remove a publisher, based on a publisher ID.
void RemovePublisher(PublisherPtr _pub)
Remove a publisher.
bool GetLocallyAdvertised() const
Was the topic has been advertised from this process?
Publication(const std::string &_topic, const std::string &_msgType)
Constructor.
void SetLocallyAdvertised(bool _value)
Set whether this topic has been advertised from this process.
virtual ~Publication()
Destructor.
boost::shared_ptr< CallbackHelper > CallbackHelperPtr
boost shared pointer to transport::CallbackHelper
Definition CallbackHelper.hh:105
boost::shared_ptr< google::protobuf::Message > MessagePtr
Definition TransportTypes.hh:45
boost::shared_ptr< PublicationTransport > PublicationTransportPtr
Definition TransportTypes.hh:65
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27