TransportIface.hh

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/*
 * Copyright (C) 2012-2016 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_TRANSPORTIFACE_HH_
#define _GAZEBO_TRANSPORTIFACE_HH_

#include <boost/bind.hpp>
#include <string>
#include <list>
#include <map>

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/transport/SubscribeOptions.hh"
#include "gazebo/transport/Node.hh"
#include "gazebo/transport/TopicManager.hh"

namespace gazebo
{
  namespace transport
  {

    GZ_TRANSPORT_VISIBLE
    bool get_master_uri(std::string &_master_host, unsigned int &_master_port);

    GZ_TRANSPORT_VISIBLE
    bool init(const std::string &_masterHost = "",
              unsigned int _masterPort = 0,
              uint32_t _timeoutIterations = 30);

    GZ_TRANSPORT_VISIBLE
    void run();

    GZ_TRANSPORT_VISIBLE
    void get_topic_namespaces(std::list<std::string> &_namespaces);

    GZ_TRANSPORT_VISIBLE
    bool is_stopped();

    GZ_TRANSPORT_VISIBLE
    void stop();

    GZ_TRANSPORT_VISIBLE
    void fini();

    GZ_TRANSPORT_VISIBLE
    void clear_buffers();

    GZ_TRANSPORT_VISIBLE
    void pause_incoming(bool _pause);

    GZ_TRANSPORT_VISIBLE
    boost::shared_ptr<msgs::Response> request(const std::string &_worldName,
                                              const std::string &_request,
                                              const std::string &_data = "");

    GZ_TRANSPORT_VISIBLE
    void requestNoReply(const std::string &_worldName,
                        const std::string &_request,
                        const std::string &_data = "");

    GZ_TRANSPORT_VISIBLE
    void requestNoReply(NodePtr _node, const std::string &_request,
                        const std::string &_data = "");

    template<typename M>
    void publish(const std::string &_topic,
                 const google::protobuf::Message &_message)
    {
      transport::NodePtr node = transport::NodePtr(new transport::Node());
      node->Init();
      node->Publish<M>(_topic, _message);
    }

    GZ_TRANSPORT_VISIBLE
    std::map<std::string, std::list<std::string> > getAdvertisedTopics();

    GZ_TRANSPORT_VISIBLE
    std::list<std::string> getAdvertisedTopics(const std::string &_msgType);

    GZ_TRANSPORT_VISIBLE
    std::string getTopicMsgType(const std::string &_topicName);

    GZ_TRANSPORT_VISIBLE
    void setMinimalComms(bool _enabled);

    GZ_TRANSPORT_VISIBLE
    bool getMinimalComms();

    GZ_TRANSPORT_VISIBLE
    transport::ConnectionPtr connectToMaster();

    GZ_TRANSPORT_VISIBLE
    bool waitForNamespaces(const gazebo::common::Time &_maxWait);
  }
}
#endif