topic_manager.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
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 * modification, are permitted provided that the following conditions are met:
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSCPP_TOPIC_MANAGER_H
#define ROSCPP_TOPIC_MANAGER_H

#include "forwards.h"
#include "common.h"
#include "ros/serialization.h"
#include "rosout_appender.h"

#include "XmlRpcValue.h"

#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>

namespace ros
{

class Message;
struct SubscribeOptions;
struct AdvertiseOptions;

class TopicManager;
typedef boost::shared_ptr<TopicManager> TopicManagerPtr;

class PollManager;
typedef boost::shared_ptr<PollManager> PollManagerPtr;

class XMLRPCManager;
typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;

class ConnectionManager;
typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;

class SubscriptionCallbackHelper;
typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;

class ROSCPP_DECL TopicManager
{
public:
  static const TopicManagerPtr& instance();

  TopicManager();
  ~TopicManager();

  void start();
  void shutdown();

  bool subscribe(const SubscribeOptions& ops);
  bool unsubscribe(const std::string &_topic, const SubscriptionCallbackHelperPtr& helper);

  bool advertise(const AdvertiseOptions& ops, const SubscriberCallbacksPtr& callbacks);
  bool unadvertise(const std::string &topic, const SubscriberCallbacksPtr& callbacks);

  void getAdvertisedTopics(V_string& topics);

  void getSubscribedTopics(V_string& topics);

  PublicationPtr lookupPublication(const std::string& topic);

  size_t getNumSubscribers(const std::string &_topic);
  size_t getNumSubscriptions();

  size_t getNumPublishers(const std::string &_topic);

  template<typename M>
  void publish(const std::string& topic, const M& message)
  {
    using namespace serialization;

    SerializedMessage m;
    publish(topic, boost::bind(serializeMessage<M>, boost::ref(message)), m);
  }

  void publish(const std::string &_topic, const boost::function<SerializedMessage(void)>& serfunc, SerializedMessage& m);

  void incrementSequence(const std::string &_topic);
  bool isLatched(const std::string& topic);

private:
  bool addSubCallback(const SubscribeOptions& ops);

  bool requestTopic(const std::string &topic, XmlRpc::XmlRpcValue &protos, XmlRpc::XmlRpcValue &ret);

  // Must lock the advertised topics mutex before calling this function
  bool isTopicAdvertised(const std::string& topic);

  bool registerSubscriber(const SubscriptionPtr& s, const std::string& datatype);
  bool unregisterSubscriber(const std::string& topic);
  bool unregisterPublisher(const std::string& topic);

  PublicationPtr lookupPublicationWithoutLock(const std::string &topic);

  void processPublishQueues();

  void getBusStats(XmlRpc::XmlRpcValue &stats);

  void getBusInfo(XmlRpc::XmlRpcValue &info);

  void getSubscriptions(XmlRpc::XmlRpcValue &subscriptions);

  void getPublications(XmlRpc::XmlRpcValue &publications);

  bool pubUpdate(const std::string &topic, const std::vector<std::string> &pubs);

  void pubUpdateCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
  void requestTopicCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
  void getBusStatsCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
  void getBusInfoCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
  void getSubscriptionsCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
  void getPublicationsCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);

  bool isShuttingDown() { return shutting_down_; }

  boost::mutex subs_mutex_;
  L_Subscription subscriptions_;

  boost::recursive_mutex advertised_topics_mutex_;
  V_Publication advertised_topics_;
  std::list<std::string> advertised_topic_names_;
  boost::mutex advertised_topic_names_mutex_;

  volatile bool shutting_down_;
  boost::mutex shutting_down_mutex_;

  PollManagerPtr poll_manager_;
  ConnectionManagerPtr connection_manager_;
  XMLRPCManagerPtr xmlrpc_manager_;
};

} // namespace ros

#endif // ROSCPP_TOPIC_MANAGER_H