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18 #ifndef IGN_TRANSPORT_NODESHARED_HH_
19 #define IGN_TRANSPORT_NODESHARED_HH_
22 #pragma warning(push, 0)
24 #include <google/protobuf/message.h>
36 #include "ignition/transport/Export.hh"
54 class NodeSharedPrivate;
67 public:
void RunReceptionTask();
82 const size_t _dataSize,
87 public:
void RecvMsgUpdate();
164 public:
void TriggerSubscriberCallbacks(
172 public:
void RecvControlUpdate();
175 public:
void RecvSrvRequest();
178 public:
void RecvSrvResponse();
240 private:
bool InitializeSockets();
262 private:
const int kMsgDiscPort = 11317;
265 private:
const int kSrvDiscPort = 11318;
288 public:
bool HasSubscriber(
297 public:
bool HasSubscriber(
318 public:
bool RemoveHandlersForNode(
360 private:
friend Node;
361 private:
friend NodePrivate;
std::string myReplierAddress
My replier service call address.
Definition: NodeShared.hh:352
HandlerStorage< ISubscriptionHandler > normal
Normal local subscriptions.
Definition: NodeShared.hh:323
void OnNewDisconnection(const MessagePublisher &_pub)
Callback executed when the discovery detects disconnections.
std::map< std::string, ISubscriptionHandler_M > localHandlers
This is a map of the standard local callback handlers. The key is the topic name, and the value is an...
Definition: NodeShared.hh:98
This struct wraps up the two different types of subscription handlers: normal (deserialized) and raw ...
Definition: NodeShared.hh:280
This struct provides information about the Subscribers of a Publisher. It should only be retrieved us...
Definition: NodeShared.hh:134
Definition: AdvertiseOptions.hh:27
HandlerInfo contains information about callback handlers which is useful for local publishers and mes...
Definition: NodeShared.hh:93
void OnNewSrvConnection(const ServicePublisher &_pub)
Callback executed when the discovery detects a new service call.
std::string pUuid
Process UUID.
Definition: NodeShared.hh:253
std::string myControlAddress
My pub/sub control address.
Definition: NodeShared.hh:346
void SendPendingRemoteReqs(const std::string &_topic, const std::string &_reqType, const std::string &_repType)
Try to send all the requests for a given service call and a pair of request/response types.
bool HasSubscriber(const std::string &_fullyQualifiedTopic, const std::string &_msgType) const
Returns true if this wrapper contains any subscriber that matches the given topic name and message ty...
void RecvSrvResponse()
Method in charge of receiving the service call responses.
bool DiscoverService(const std::string &_topic) const
Pass through to bool Discovery::Discover(const std::string &_topic) const.
bool AdvertisePublisher(const ServicePublisher &_publisher)
Pass through to bool Advertise(const Pub &_publisher)
HandlerStorage< IReqHandler > requests
Pending service call requests.
Definition: NodeShared.hh:337
std::recursive_mutex mutex
Mutex to guarantee exclusive access between all threads.
Definition: NodeShared.hh:259
void RecvSrvRequest()
Method in charge of receiving the service call requests.
void OnNewSrvDisconnection(const ServicePublisher &_pub)
Callback executed when a service call is no longer available.
virtual ~NodeShared()
Destructor.
This class stores all the information about a message publisher.
Definition: Publisher.hh:198
std::thread threadReception
thread in charge of receiving and handling incoming messages.
Definition: NodeShared.hh:256
int verbose
Print activity to stdout.
Definition: NodeShared.hh:340
A portable class for representing a Universally Unique Identifier.
Definition: Uuid.hh:41
void RecvMsgUpdate()
Method in charge of receiving the topic updates.
void TriggerSubscriberCallbacks(const std::string &_topic, const std::string &_msgData, const std::string &_msgType, const HandlerInfo &_handlerInfo)
Call the SubscriptionHandler callbacks (local and raw) for this NodeShared.
void OnNewConnection(const MessagePublisher &_pub)
Callback executed when the discovery detects new topics.
Uuid responseReceiverId
Response receiver socket identity.
Definition: NodeShared.hh:247
A class that allows a client to communicate with other peers. There are two main communication modes:...
Definition: Node.hh:64
std::string myRequesterAddress
My requester service call address.
Definition: NodeShared.hh:349
void RunReceptionTask()
Receive data and control messages.
std::map< std::string, RawSubscriptionHandler_M > rawHandlers
This is a map of the raw local callback handlers. The key is the topic name, and the value is another...
Definition: NodeShared.hh:103
HandlerWrapper localSubscribers
Definition: NodeShared.hh:331
bool TopicPublishers(const std::string &_topic, SrvAddresses_M &_publishers) const
Pass through to bool Publishers(const std::string &_topic, Addresses_M<Pub> &_publishers) const.
std::string myAddress
My pub/sub address.
Definition: NodeShared.hh:343
bool haveRemote
True iff this Publisher has any remote subscribers.
Definition: NodeShared.hh:137
HandlerStorage< RawSubscriptionHandler > raw
Raw local subscriptions. Keeping these separate from localSubscriptions allows us to avoid an unneces...
Definition: NodeShared.hh:328
void RecvControlUpdate()
Method in charge of receiving the control updates (when a new remote subscriber notifies its presence...
*brief Advertise a new service without any output parameter *In this version the callback is a free function *param[in] _topic Topic name associated to the service *param[in] _cb Callback to handle the service request with the *following void(*) const AdvertiseServiceOptions const ReplyT std::string _topic)
Definition: Node.hh:528
TopicStorage< MessagePublisher > remoteSubscribers
Remote subscribers.
Definition: NodeShared.hh:274
bool RemoveHandlersForNode(const std::string &_fullyQualifiedTopic, const std::string &_nUuid)
Remove the handlers for the given topic name that belong to a specific node.
This class stores all the information about a service publisher.
Definition: Publisher.hh:314
HandlerStorage< IRepHandler > repliers
Service call repliers.
Definition: NodeShared.hh:334
Uuid replierId
Replier socket identity.
Definition: NodeShared.hh:250
std::string hostAddr
IP address of this host.
Definition: NodeShared.hh:355
std::vector< std::string > NodeUuids(const std::string &_fullyQualifiedTopic, const std::string &_msgTypeName) const
Get a set of node UUIDs for subscribers in this wrapper that match the topic and message type criteri...
Node(const NodeOptions &_options=NodeOptions())
Constructor.
Store address information about topics and provide convenient methods for adding new topics,...
Definition: TopicStorage.hh:37
bool haveLocal
True iff there are any standard local subscribers.
Definition: NodeShared.hh:106
void(void *_data, void *_hint) DeallocFunc
Definition: TransportTypes.hh:167
HandlerInfo CheckHandlerInfo(const std::string &_topic) const
Get information about the local and raw subscribers that are attached to this NodeShared.
bool Publish(const std::string &_topic, char *_data, const size_t _dataSize, DeallocFunc *_ffn, const std::string &_msgType)
Publish data.
Private data for the Node class. This class should not be directly used. You should use the Node clas...
Definition: NodeShared.hh:59
SubscriberInfo CheckSubscriberInfo(const std::string &_topic, const std::string &_msgType) const
Get information about the nodes that are subscribed to the publishers of this NodeShared.
bool haveRaw
True iff there are any raw local subscribers.
Definition: NodeShared.hh:109
static NodeShared * Instance()
NodeShared is a singleton. This method gets the NodeShared instance shared between all the nodes.
Class to store and manage service call handlers.
Definition: HandlerStorage.hh:33