/usr/include/ignition/transport4/ignition/transport/Node.hh is in libignition-transport4-dev 4.0.0+dfsg-4.
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* Copyright (C) 2014 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 IGN_TRANSPORT_NODE_HH_
#define IGN_TRANSPORT_NODE_HH_
#include <algorithm>
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_set>
#include <vector>
// ToDo: Remove after fixing the warnings
#ifdef _MSC_VER
#pragma warning(push, 0)
#endif
#include <ignition/msgs.hh>
#ifdef _MSC_VER
#pragma warning(pop)
#endif
#include "ignition/transport/AdvertiseOptions.hh"
#include "ignition/transport/Export.hh"
#include "ignition/transport/NodeOptions.hh"
#include "ignition/transport/NodeShared.hh"
#include "ignition/transport/Publisher.hh"
#include "ignition/transport/RepHandler.hh"
#include "ignition/transport/ReqHandler.hh"
#include "ignition/transport/SubscribeOptions.hh"
#include "ignition/transport/SubscriptionHandler.hh"
#include "ignition/transport/TopicUtils.hh"
#include "ignition/transport/TransportTypes.hh"
namespace ignition
{
namespace transport
{
class NodePrivate;
/// \brief Block the current thread until a SIGINT or SIGTERM is received.
/// Note that this function registers a signal handler. Do not use this
/// function if you want to manage yourself SIGINT/SIGTERM.
void IGNITION_TRANSPORT_VISIBLE waitForShutdown();
/// \class Node Node.hh ignition/transport/Node.hh
/// \brief A class that allows a client to communicate with other peers.
/// There are two main communication modes: pub/sub messages and service
/// calls.
class IGNITION_TRANSPORT_VISIBLE Node
{
class PublisherPrivate;
/// \brief A class that is used to store information about an
/// advertised publisher. An instance of this class is returned
/// from Node::Advertise, and should be used in subsequent
/// Node::Publisher::Publish calls.
///
/// ## Pseudo code example ##
///
/// auto pub = myNode.Advertise<MsgType>("topic_name");
/// if (pub)
/// {
/// MsgType msg;
///
/// // Note that this version of Publish will copy the message
/// // when publishing to interprocess subscribers.
/// pub.Publish(msg);
/// }
public: class IGNITION_TRANSPORT_VISIBLE Publisher
{
/// \brief Default constructor.
public: Publisher();
/// \brief Constructor.
/// \param[in] _publisher A message publisher.
public: explicit Publisher(const MessagePublisher &_publisher);
/// \brief Destructor.
public: virtual ~Publisher();
/// \brief Allows this class to be evaluated as a boolean.
/// \return True if valid
/// \sa Valid
public: operator bool();
/// \brief Allows this class to be evaluated as a boolean (const).
/// \return True if valid
/// \sa Valid
public: operator bool() const;
/// \brief Return true if valid information, such as a non-empty
/// topic name, is present.
/// \return True if this object can be used in Publish() calls.
public: bool Valid() const;
/// \brief Publish a message. This function will copy the message
/// when publishing to interprocess subscribers. This copy is
/// necessary to facilitate asynchronous publication.
/// \param[in] _msg A google::protobuf message.
/// \return true when success.
public: bool Publish(const ProtoMsg &_msg);
/// \brief Publish a raw pre-serialized message.
///
/// \warning This function is only intended for advanced users. The
/// standard publishing function, Publish(const ProtoMsg &_msg), will
/// ensure that your message is correctly serialized. It is strongly
/// recommended that you use the standard publishing function unless
/// there is a specific reason for using this one (e.g. you are
/// forwarding or playing back data instead of serializing/deserializing
/// it). We currently only support the serialization scheme of protobuf.
///
/// \warning This function will copy the message data when
/// publishing to remote subscribers (interprocess communication).
///
/// \note This function will deserialize the message when sending it to
/// local (intraprocess) subscribers.
///
/// \param[in] _msgData A std::string that represents a
/// serialized google::protobuf message.
/// \param[in] _msgType A std::string that contains the message type
/// name.
/// \return true when success.
public: bool PublishRaw(
const std::string &_msgData,
const std::string &_msgType);
/// \brief Check if message publication is throttled. If so, verify
/// whether the next message should be published or not.
/// \return true if the message should be published or false otherwise.
private: bool UpdateThrottling();
/// \brief Return true if this publisher has subscribers.
/// \return True if subscribers have connected to this publisher.
public: bool HasConnections() const;
/// \internal
/// \brief Smart pointer to private data.
/// This is std::shared_ptr because we want to trigger the destructor
/// only once: when all references to PublisherPrivate are out of scope.
/// The destructor of PublisherPrivate unadvertise the topic.
private: std::shared_ptr<PublisherPrivate> dataPtr;
};
/// \brief Constructor.
/// \param[in] _options Node options.
public: explicit Node(const NodeOptions &_options = NodeOptions());
/// \brief Destructor.
public: virtual ~Node();
/// \brief Advertise a new topic. If a topic is currently advertised,
/// you cannot advertise it a second time (regardless of its type).
/// \param[in] _topic Topic name to be advertised.
/// \param[in] _options Advertise options.
/// \return A PublisherId, which can be used in Node::Publish calls.
/// The PublisherId also acts as boolean, where true occurs if the topic
/// was succesfully advertised.
/// \sa AdvertiseOptions.
public: template<typename MessageT>
Node::Publisher Advertise(
const std::string &_topic,
const AdvertiseMessageOptions &_options = AdvertiseMessageOptions())
{
return this->Advertise(_topic, MessageT().GetTypeName(), _options);
}
/// \brief Advertise a new topic. If a topic is currently advertised,
/// you cannot advertise it a second time (regardless of its type).
/// \param[in] _topic Topic name to be advertised.
/// \param[in] _msgTypeName Name of the message type that will be
/// published on the topic. The message type name can be retrieved
/// from a protobuf message using the GetTypeName() function.
/// \param[in] _options Advertise options.
/// \return A PublisherId, which can be used in Node::Publish calls.
/// The PublisherId also acts as boolean, where true occurs if the topic
/// was succesfully advertised.
/// \sa AdvertiseOptions.
public: Node::Publisher Advertise(
const std::string &_topic,
const std::string &_msgTypeName,
const AdvertiseMessageOptions &_options = AdvertiseMessageOptions());
/// \brief Get the list of topics advertised by this node.
/// \return A vector containing all the topics advertised by this node.
public: std::vector<std::string> AdvertisedTopics() const;
/// \brief Subscribe to a topic registering a callback.
/// Note that this callback does not include any message information.
/// In this version the callback is a free function.
/// \param[in] _topic Topic to be subscribed.
/// \param[in] _cb Pointer to the callback function with the following
/// parameters:
/// \param[in] _msg Protobuf message containing a new topic update.
/// \param[in] _opts Subscription options.
/// \return true when successfully subscribed or false otherwise.
public: template<typename MessageT>
bool Subscribe(
const std::string &_topic,
void(*_cb)(const MessageT &_msg),
const SubscribeOptions &_opts = SubscribeOptions())
{
std::function<void(const MessageT &, const MessageInfo &)> f =
[_cb](const MessageT & _internalMsg,
const MessageInfo &/*_internalInfo*/)
{
(*_cb)(_internalMsg);
};
return this->Subscribe<MessageT>(_topic, f, _opts);
}
/// \brief Subscribe to a topic registering a callback.
/// Note that this callback does not include any message information.
/// In this version the callback is a lamda function.
/// \param[in] _topic Topic to be subscribed.
/// \param[in] _cb Lambda function with the following parameters:
/// \param[in] _msg Protobuf message containing a new topic update.
/// \param[in] _opts Subscription options.
/// \return true when successfully subscribed or false otherwise.
public: template<typename MessageT>
bool Subscribe(
const std::string &_topic,
std::function<void(const MessageT &_msg)> &_cb,
const SubscribeOptions &_opts = SubscribeOptions())
{
std::function<void(const MessageT &, const MessageInfo &)> f =
[_cb](const MessageT & _internalMsg,
const MessageInfo &/*_internalInfo*/)
{
_cb(_internalMsg);
};
return this->Subscribe<MessageT>(_topic, f, _opts);
}
/// \brief Subscribe to a topic registering a callback.
/// Note that this callback does not include any message information.
/// In this version the callback is a member function.
/// \param[in] _topic Topic to be subscribed.
/// \param[in] _cb Pointer to the callback function with the following
/// parameters:
/// \param[in] _msg Protobuf message containing a new topic update.
/// \param[in] _obj Instance containing the member function.
/// \param[in] _opts Subscription options.
/// \return true when successfully subscribed or false otherwise.
public: template<typename ClassT, typename MessageT>
bool Subscribe(
const std::string &_topic,
void(ClassT::*_cb)(const MessageT &_msg),
ClassT *_obj,
const SubscribeOptions &_opts = SubscribeOptions())
{
std::function<void(const MessageT &, const MessageInfo &)> f =
[_cb, _obj](const MessageT & _internalMsg,
const MessageInfo &/*_internalInfo*/)
{
auto cb = std::bind(_cb, _obj, std::placeholders::_1);
cb(_internalMsg);
};
return this->Subscribe<MessageT>(_topic, f, _opts);
}
/// \brief Subscribe to a topic registering a callback.
/// Note that this callback includes message information.
/// In this version the callback is a free function.
/// \param[in] _topic Topic to be subscribed.
/// \param[in] _cb Pointer to the callback function with the following
/// parameters:
/// \param[in] _msg Protobuf message containing a new topic update.
/// \param[in] _info Message information (e.g.: topic name).
/// \param[in] _opts Subscription options.
/// \return true when successfully subscribed or false otherwise.
public: template<typename MessageT>
bool Subscribe(
const std::string &_topic,
void(*_cb)(const MessageT &_msg, const MessageInfo &_info),
const SubscribeOptions &_opts = SubscribeOptions())
{
std::function<void(const MessageT &, const MessageInfo &)> f =
[_cb](const MessageT & _internalMsg,
const MessageInfo &_internalInfo)
{
(*_cb)(_internalMsg, _internalInfo);
};
return this->Subscribe<MessageT>(_topic, f, _opts);
}
/// \brief Subscribe to a topic registering a callback.
/// Note that this callback includes message information.
/// In this version the callback is a lamda function.
/// \param[in] _topic Topic to be subscribed.
/// \param[in] _cb Lambda function with the following parameters:
/// \param[in] _msg Protobuf message containing a new topic update.
/// \param[in] _info Message information (e.g.: topic name).
/// \param[in] _opts Subscription options.
/// \return true when successfully subscribed or false otherwise.
public: template<typename MessageT>
bool Subscribe(
const std::string &_topic,
std::function<void(const MessageT &_msg,
const MessageInfo &_info)> &_cb,
const SubscribeOptions &_opts = SubscribeOptions())
{
std::string fullyQualifiedTopic;
if (!TopicUtils::FullyQualifiedName(this->Options().Partition(),
this->Options().NameSpace(), _topic, fullyQualifiedTopic))
{
std::cerr << "Topic [" << _topic << "] is not valid." << std::endl;
return false;
}
// Create a new subscription handler.
std::shared_ptr<SubscriptionHandler<MessageT>> subscrHandlerPtr(
new SubscriptionHandler<MessageT>(this->NodeUuid(), _opts));
// Insert the callback into the handler.
subscrHandlerPtr->SetCallback(_cb);
std::lock_guard<std::recursive_mutex> lk(this->Shared()->mutex);
// Store the subscription handler. Each subscription handler is
// associated with a topic. When the receiving thread gets new data,
// it will recover the subscription handler associated to the topic and
// will invoke the callback.
this->Shared()->localSubscribers.normal.AddHandler(
fullyQualifiedTopic, this->NodeUuid(), subscrHandlerPtr);
return this->SubscribeHelper(fullyQualifiedTopic);
}
/// \brief Subscribe to a topic registering a callback.
/// Note that this callback includes message information.
/// In this version the callback is a member function.
/// \param[in] _topic Topic to be subscribed.
/// \param[in] _cb Pointer to the callback function with the following
/// parameters:
/// \param[in] _msg Protobuf message containing a new topic update.
/// \param[in] _info Message information (e.g.: topic name).
/// \param[in] _obj Instance containing the member function.
/// \param[in] _opts Subscription options.
/// \return true when successfully subscribed or false otherwise.
public: template<typename ClassT, typename MessageT>
bool Subscribe(
const std::string &_topic,
void(ClassT::*_cb)(const MessageT &_msg, const MessageInfo &_info),
ClassT *_obj,
const SubscribeOptions &_opts = SubscribeOptions())
{
std::function<void(const MessageT &, const MessageInfo &)> f =
[_cb, _obj](const MessageT & _internalMsg,
const MessageInfo &_internalInfo)
{
auto cb = std::bind(_cb, _obj, std::placeholders::_1,
std::placeholders::_2);
cb(_internalMsg, _internalInfo);
};
return this->Subscribe<MessageT>(_topic, f, _opts);
}
/// \brief Get the list of topics subscribed by this node. Note that
/// we might be interested in one topic but we still don't know the
/// address of a publisher.
/// \return A vector containing the subscribed topics (even if we do not
/// have an address for a particular topic yet).
public: std::vector<std::string> SubscribedTopics() const;
/// \brief Unsubscribe from a topic.
/// \param[in] _topic Topic name to be unsubscribed.
/// \return true when successfully unsubscribed or false otherwise.
public: bool Unsubscribe(const std::string &_topic);
/// \brief Old method for advertising a service. This signature is
/// considered deprecated. Please migrate to the callback signature
/// \code{bool (*_cb)(const Request &_req, const Reply &_rep)} for
/// advertising a service.
/// \param[in] _topic Topic name associated with the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[out] _rep ProtobufMessage containing the response.
/// \param[out] _result Service call result
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or false
/// otherwise.
/// \sa AdvertiseOptions.
/// \deprecated See version where the callback function returns a boolean.
public: template<typename RequestT, typename ReplyT>
IGN_DEPRECATED(4.0) bool Advertise(
const std::string &_topic,
void(*_cb)(const RequestT &_req, ReplyT &_rep, bool &_result),
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const RequestT &, ReplyT&)> newCb =
[=](const RequestT &_internalReq, ReplyT &_internalRep) -> bool
{
bool internalResult = false;
(*_cb)(_internalReq, _internalRep, internalResult);
return internalResult;
};
return this->Advertise(_topic, newCb, _options);
}
/// \brief Advertise a new service.
/// In this version the callback is a plain function pointer.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[out] _rep Protobuf message containing the response.
/// \return Service call result.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename RequestT, typename ReplyT>
bool Advertise(
const std::string &_topic,
bool(*_cb)(const RequestT &_req, ReplyT &_rep),
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
// Dev Note: This overload of Advertise(~) is necessary so that the
// compiler can correctly infer the template arguments. We cannot rely
// on the compiler to implicitly cast the function pointer to a
// std::function object, because the compiler cannot infer the template
// parameters T1 and T2 from the signature of the function pointer that
// gets passed to Advertise(~).
// We create a std::function object so that we can explicitly call the
// baseline overload of Advertise(~).
std::function<bool(const RequestT&, ReplyT&)> f =
[_cb](const RequestT &_internalReq, ReplyT &_internalRep)
{
return (*_cb)(_internalReq, _internalRep);
};
return this->Advertise(_topic, f, _options);
}
/// \brief Old method for advertising a service. This signature is
/// considered deprecated. Please migrate to the callback signature
/// \code{bool (*_cb)(T &_rep)} for advertising a service.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[out] _rep Protobuf message containing the response.
/// \param[out] _result Service call result.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
/// \deprecated See version where the callback function returns a boolean
public: template<typename ReplyT>
IGN_DEPRECATED(4.0) bool Advertise(
const std::string &_topic,
void(*_cb)(ReplyT &_rep, bool &_result),
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const msgs::Empty &, ReplyT &)> f =
[_cb](const msgs::Empty &/*_internalReq*/, ReplyT &_internalRep)
{
bool internalResult = false;
(*_cb)(_internalRep, internalResult);
return internalResult;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Advertise a new service without input 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 parameters:
/// \param[out] _rep Protobuf message containing the response.
/// \return Service call result.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename ReplyT>
bool Advertise(
const std::string &_topic,
bool(*_cb)(ReplyT &_rep),
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const msgs::Empty &, ReplyT &)> f =
[_cb](const msgs::Empty &/*_internalReq*/, ReplyT &_internalRep)
{
return (*_cb)(_internalRep);
};
return this->Advertise(_topic, f, _options);
}
/// \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 parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename RequestT>
bool Advertise(
const std::string &_topic,
void(*_cb)(const RequestT &_req),
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const RequestT &, ignition::msgs::Empty &)> f =
[_cb](const RequestT &_internalReq,
ignition::msgs::Empty &/*_internalRep*/)
{
(*_cb)(_internalReq);
return true;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Old method for advertising a service. This signature is
/// considered deprecated. Please migrate to the callback signature
/// \code{bool (*_cb)(const T1 &_req, T2 &_rep)} for advertising a
/// service.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[out] _rep Protobuf message containing the response.
/// \param[out] _result Service call result.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
/// \deprecated See version where the callback function returns a boolean
public: template<typename RequestT, typename ReplyT>
IGN_DEPRECATED(4.0) bool Advertise(
const std::string &_topic,
std::function<void(const RequestT &_req,
ReplyT &_rep, bool &_result)> &_cb,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const RequestT&, ReplyT&)> f =
[_cb](const RequestT &_req, ReplyT &_rep)
{
bool internalResult = false;
(_cb)(_req, _rep, internalResult);
return internalResult;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Advertise a new service.
/// In this version the callback is a lambda function.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[out] _rep Protobuf message containing the response.
/// \return Service call result.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename RequestT, typename ReplyT>
bool Advertise(
const std::string &_topic,
std::function<bool(const RequestT &_req, ReplyT &_rep)> &_cb,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::string fullyQualifiedTopic;
if (!TopicUtils::FullyQualifiedName(this->Options().Partition(),
this->Options().NameSpace(), _topic, fullyQualifiedTopic))
{
std::cerr << "Service [" << _topic << "] is not valid." << std::endl;
return false;
}
// Create a new service reply handler.
std::shared_ptr<RepHandler<RequestT, ReplyT>> repHandlerPtr(
new RepHandler<RequestT, ReplyT>());
// Insert the callback into the handler.
repHandlerPtr->SetCallback(_cb);
std::lock_guard<std::recursive_mutex> lk(this->Shared()->mutex);
// Add the topic to the list of advertised services.
this->SrvsAdvertised().insert(fullyQualifiedTopic);
// Store the replier handler. Each replier handler is
// associated with a topic. When the receiving thread gets new requests,
// it will recover the replier handler associated to the topic and
// will invoke the service call.
this->Shared()->repliers.AddHandler(
fullyQualifiedTopic, this->NodeUuid(), repHandlerPtr);
// Notify the discovery service to register and advertise my responser.
ServicePublisher publisher(fullyQualifiedTopic,
this->Shared()->myReplierAddress,
this->Shared()->replierId.ToString(),
this->Shared()->pUuid, this->NodeUuid(),
RequestT().GetTypeName(), ReplyT().GetTypeName(), _options);
if (!this->Shared()->AdvertisePublisher(publisher))
{
std::cerr << "Node::Advertise(): Error advertising a service. "
<< "Did you forget to start the discovery service?"
<< std::endl;
return false;
}
return true;
}
/// \brief Old method for advertising a service. This signature is
/// considered deprecated. Please migrate to the callback signature
/// \code{bool (*_cb)(T2 &_rep)} for advertising a service.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[out] _rep Protobuf message containing the response.
/// \param[out] _result Service call result.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
/// \deprecated See version where the callback function returns a boolean
public: template<typename ReplyT>
IGN_DEPRECATED(4.0) bool Advertise(
const std::string &_topic,
std::function<void(ReplyT &_rep, bool &_result)> &_cb,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const msgs::Empty &, ReplyT &)> f =
[_cb](const msgs::Empty &/*_internalReq*/, ReplyT &_internalRep)
{
bool internalResult = false;
(_cb)(_internalRep, internalResult);
return internalResult;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Advertise a new service without input parameter.
/// In this version the callback is a lambda function.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[out] _rep Protobuf message containing the response.
/// \return Service call result.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename ReplyT>
bool Advertise(
const std::string &_topic,
std::function<bool(ReplyT &_rep)> &_cb,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const msgs::Empty &, ReplyT &)> f =
[_cb](const msgs::Empty &/*_internalReq*/, ReplyT &_internalRep)
{
return (_cb)(_internalRep);
};
return this->Advertise(_topic, f, _options);
}
/// \brief Advertise a new service without any output parameter.
/// In this version the callback is a lambda function.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename RequestT>
bool Advertise(
const std::string &_topic,
std::function<void(const RequestT &_req)> &_cb,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const RequestT &, ignition::msgs::Empty &)> f =
[_cb](const RequestT &_internalReq,
ignition::msgs::Empty &/*_internalRep*/)
{
(_cb)(_internalReq);
return true;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Old method for advertising a service. This signature is
/// considered deprecated. Please migrate to the callback signature
/// \code{bool (C::*_cb)(const T1 &_req, T2 &_rep)} for advertising a
/// service.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[out] _rep Protobuf message containing the response.
/// \param[out] _result Service call result.
/// \param[in] _obj Instance containing the member function.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
/// \deprecated See version where the callback function returns a boolean
public: template<typename ClassT, typename RequestT, typename ReplyT>
IGN_DEPRECATED(4.0) bool Advertise(
const std::string &_topic,
void(ClassT::*_cb)(const RequestT &_req, ReplyT &_rep, bool &_result),
ClassT *_obj,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const RequestT &, ReplyT &)> f =
[_cb, _obj](const RequestT &_internalReq,
ReplyT &_internalRep)
{
bool internalResult;
(_obj->*_cb)(_internalReq, _internalRep, internalResult);
return internalResult;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Advertise a new service.
/// In this version the callback is a member function.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[out] _rep Protobuf message containing the response.
/// \return Service call result.
/// \param[in] _obj Instance containing the member function.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename ClassT, typename RequestT, typename ReplyT>
bool Advertise(
const std::string &_topic,
bool(ClassT::*_cb)(const RequestT &_req, ReplyT &_rep),
ClassT *_obj,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const RequestT &, ReplyT &)> f =
[_cb, _obj](const RequestT &_internalReq,
ReplyT &_internalRep)
{
return (_obj->*_cb)(_internalReq, _internalRep);
};
return this->Advertise(_topic, f, _options);
}
/// \brief Old method for advertising a service. This signature is
/// considered deprecated. Please migrate to the callback signature
/// \code{bool (C::*_cb)(T &_rep)} for advertising a service.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[out] _rep Protobuf message containing the response.
/// \param[out] _result Service call result.
/// \param[in] _obj Instance containing the member function.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
/// \deprecated See version where the callback function returns a boolean
public: template<typename ClassT, typename ReplyT>
IGN_DEPRECATED(4.0) bool Advertise(
const std::string &_topic,
void(ClassT::*_cb)(ReplyT &_rep, bool &_result),
ClassT *_obj,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const msgs::Empty &, ReplyT &)> f =
[_cb, _obj](const msgs::Empty &/*_internalReq*/, ReplyT &_internalRep)
{
bool internalResult;
(_obj->*_cb)(_internalRep, internalResult);
return internalResult;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Advertise a new service without input parameter.
/// In this version the callback is a member function.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[out] _rep Protobuf message containing the response.
/// \return Service call result.
/// \param[in] _obj Instance containing the member function.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions.
public: template<typename ClassT, typename ReplyT>
bool Advertise(
const std::string &_topic,
bool(ClassT::*_cb)(ReplyT &_rep),
ClassT *_obj,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const msgs::Empty &, ReplyT &)> f =
[_cb, _obj](const msgs::Empty &/*_internalReq*/, ReplyT &_internalRep)
{
return (_obj->*_cb)(_internalRep);
};
return this->Advertise(_topic, f, _options);
}
/// \brief Advertise a new service without any output parameter.
/// In this version the callback is a member function.
/// \param[in] _topic Topic name associated to the service.
/// \param[in] _cb Callback to handle the service request with the
/// following parameters:
/// \param[in] _req Protobuf message containing the request.
/// \param[in] _obj Instance containing the member function.
/// \param[in] _options Advertise options.
/// \return true when the topic has been successfully advertised or
/// false otherwise.
/// \sa AdvertiseOptions
public: template<typename ClassT, typename RequestT>
bool Advertise(
const std::string &_topic,
void(ClassT::*_cb)(const RequestT &_req),
ClassT *_obj,
const AdvertiseServiceOptions &_options = AdvertiseServiceOptions())
{
std::function<bool(const RequestT &, ignition::msgs::Empty &)> f =
[_cb, _obj](const RequestT &_internalReq,
ignition::msgs::Empty &/*_internalRep*/)
{
auto cb = std::bind(_cb, _obj, std::placeholders::_1);
cb(_internalReq);
return true;
};
return this->Advertise(_topic, f, _options);
}
/// \brief Get the list of services advertised by this node.
/// \return A vector containing all services advertised by this node.
public: std::vector<std::string> AdvertisedServices() const;
/// \brief Request a new service using a non-blocking call.
/// In this version the callback is a free function.
/// \param[in] _topic Service name requested.
/// \param[in] _req Protobuf message containing the request's parameters.
/// \param[in] _cb Pointer to the callback function executed when the
/// response arrives. The callback has the following parameters:
/// \param[in] _rep Protobuf message containing the response.
/// \param[in] _result Result of the service call. If false, there was
/// a problem executing your request.
/// \return true when the service call was succesfully requested.
public: template<typename RequestT, typename ReplyT>
bool Request(
const std::string &_topic,
const RequestT &_req,
void(*_cb)(const ReplyT &_rep, const bool _result))
{
std::function<void(const ReplyT &, const bool)> f =
[_cb](const ReplyT &_internalRep, const bool _internalResult)
{
(*_cb)(_internalRep, _internalResult);
};
return this->Request<RequestT, ReplyT>(_topic, _req, f);
}
/// \brief Request a new service without input parameter using a
/// non-blocking call.
/// In this version the callback is a free function.
/// \param[in] _topic Service name requested.
/// \param[in] _cb Pointer to the callback function executed when the
/// response arrives. The callback has the following parameters:
/// \param[in] _rep Protobuf message containing the response.
/// \param[in] _result Result of the service call. If false, there was
/// a problem executing your request.
/// \return true when the service call was succesfully requested.
public: template<typename ReplyT>
bool Request(
const std::string &_topic,
void(*_cb)(const ReplyT &_rep, const bool _result))
{
msgs::Empty req;
return this->Request(_topic, req, _cb);
}
/// \brief Request a new service using a non-blocking call.
/// In this version the callback is a lambda function.
/// \param[in] _topic Service name requested.
/// \param[in] _req Protobuf message containing the request's parameters.
/// \param[in] _cb Lambda function executed when the response arrives.
/// The callback has the following parameters:
/// \param[in] _rep Protobuf message containing the response.
/// \param[in] _result Result of the service call. If false, there was
/// a problem executing your request.
/// \return true when the service call was succesfully requested.
public: template<typename RequestT, typename ReplyT>
bool Request(
const std::string &_topic,
const RequestT &_req,
std::function<void(const ReplyT &_rep, const bool _result)> &_cb)
{
std::string fullyQualifiedTopic;
if (!TopicUtils::FullyQualifiedName(this->Options().Partition(),
this->Options().NameSpace(), _topic, fullyQualifiedTopic))
{
std::cerr << "Service [" << _topic << "] is not valid." << std::endl;
return false;
}
bool localResponserFound;
IRepHandlerPtr repHandler;
{
std::lock_guard<std::recursive_mutex> lk(this->Shared()->mutex);
localResponserFound = this->Shared()->repliers.FirstHandler(
fullyQualifiedTopic,
RequestT().GetTypeName(),
ReplyT().GetTypeName(),
repHandler);
}
// If the responser is within my process.
if (localResponserFound)
{
// There is a responser in my process, let's use it.
ReplyT rep;
bool result = repHandler->RunLocalCallback(_req, rep);
_cb(rep, result);
return true;
}
// Create a new request handler.
std::shared_ptr<ReqHandler<RequestT, ReplyT>> reqHandlerPtr(
new ReqHandler<RequestT, ReplyT>(this->NodeUuid()));
// Insert the request's parameters.
reqHandlerPtr->SetMessage(&_req);
// Insert the callback into the handler.
reqHandlerPtr->SetCallback(_cb);
{
std::lock_guard<std::recursive_mutex> lk(this->Shared()->mutex);
// Store the request handler.
this->Shared()->requests.AddHandler(
fullyQualifiedTopic, this->NodeUuid(), reqHandlerPtr);
// If the responser's address is known, make the request.
SrvAddresses_M addresses;
if (this->Shared()->TopicPublishers(fullyQualifiedTopic, addresses))
{
this->Shared()->SendPendingRemoteReqs(fullyQualifiedTopic,
RequestT().GetTypeName(), ReplyT().GetTypeName());
}
else
{
// Discover the service responser.
if (!this->Shared()->DiscoverService(fullyQualifiedTopic))
{
std::cerr << "Node::Request(): Error discovering a service. "
<< "Did you forget to start the discovery service?"
<< std::endl;
return false;
}
}
}
return true;
}
/// \brief Request a new service without input parameter using a
/// non-blocking call.
/// In this version the callback is a lambda function.
/// \param[in] _topic Service name requested.
/// \param[in] _cb Lambda function executed when the response arrives.
/// The callback has the following parameters:
/// \param[in] _rep Protobuf message containing the response.
/// \param[in] _result Result of the service call. If false, there was
/// a problem executing your request.
/// \return true when the service call was succesfully requested.
public: template<typename ReplyT>
bool Request(
const std::string &_topic,
std::function<void(const ReplyT &_rep, const bool _result)> &_cb)
{
msgs::Empty req;
return this->Request(_topic, req, _cb);
}
/// \brief Request a new service using a non-blocking call.
/// In this version the callback is a member function.
/// \param[in] _topic Service name requested.
/// \param[in] _req Protobuf message containing the request's parameters.
/// \param[in] _cb Pointer to the callback function executed when the
/// response arrives. The callback has the following parameters:
/// \param[in] _rep Protobuf message containing the response.
/// \param[in] _result Result of the service call. If false, there was
/// a problem executing your request.
/// \param[in] _obj Instance containing the member function.
/// \return true when the service call was succesfully requested.
public: template<typename ClassT, typename RequestT, typename ReplyT>
bool Request(
const std::string &_topic,
const RequestT &_req,
void(ClassT::*_cb)(const ReplyT &_rep, const bool _result),
ClassT *_obj)
{
std::function<void(const ReplyT &, const bool)> f =
[_cb, _obj](const ReplyT &_internalRep, const bool _internalResult)
{
auto cb = std::bind(_cb, _obj, std::placeholders::_1,
std::placeholders::_2);
cb(_internalRep, _internalResult);
};
return this->Request<RequestT, ReplyT>(_topic, _req, f);
}
/// \brief Request a new service without input parameter using a
/// non-blocking call.
/// In this version the callback is a member function.
/// \param[in] _topic Service name requested.
/// \param[in] _cb Pointer to the callback function executed when the
/// response arrives. The callback has the following parameters:
/// \param[in] _rep Protobuf message containing the response.
/// \param[in] _result Result of the service call. If false, there was
/// a problem executing your request.
/// \param[in] _obj Instance containing the member function.
/// \return true when the service call was succesfully requested.
public: template<typename ClassT, typename ReplyT>
bool Request(
const std::string &_topic,
void(ClassT::*_cb)(const ReplyT &_rep, const bool _result),
ClassT *_obj)
{
msgs::Empty req;
return this->Request(_topic, req, _cb, _obj);
}
/// \brief Request a new service using a blocking call.
/// \param[in] _topic Service name requested.
/// \param[in] _req Protobuf message containing the request's parameters.
/// \param[in] _timeout The request will timeout after '_timeout' ms.
/// \param[out] _rep Protobuf message containing the response.
/// \param[out] _result Result of the service call.
/// \return true when the request was executed or false if the timeout
/// expired.
public: template<typename RequestT, typename ReplyT>
bool Request(
const std::string &_topic,
const RequestT &_req,
const unsigned int &_timeout,
ReplyT &_rep,
bool &_result)
{
std::string fullyQualifiedTopic;
if (!TopicUtils::FullyQualifiedName(this->Options().Partition(),
this->Options().NameSpace(), _topic, fullyQualifiedTopic))
{
std::cerr << "Service [" << _topic << "] is not valid." << std::endl;
return false;
}
// Create a new request handler.
std::shared_ptr<ReqHandler<RequestT, ReplyT>> reqHandlerPtr(
new ReqHandler<RequestT, ReplyT>(this->NodeUuid()));
// Insert the request's parameters.
reqHandlerPtr->SetMessage(&_req);
reqHandlerPtr->SetResponse(&_rep);
std::unique_lock<std::recursive_mutex> lk(this->Shared()->mutex);
// If the responser is within my process.
IRepHandlerPtr repHandler;
if (this->Shared()->repliers.FirstHandler(fullyQualifiedTopic,
_req.GetTypeName(), _rep.GetTypeName(), repHandler))
{
// There is a responser in my process, let's use it.
_result = repHandler->RunLocalCallback(_req, _rep);
return true;
}
// Store the request handler.
this->Shared()->requests.AddHandler(
fullyQualifiedTopic, this->NodeUuid(), reqHandlerPtr);
// If the responser's address is known, make the request.
SrvAddresses_M addresses;
if (this->Shared()->TopicPublishers(fullyQualifiedTopic, addresses))
{
this->Shared()->SendPendingRemoteReqs(fullyQualifiedTopic,
_req.GetTypeName(), _rep.GetTypeName());
}
else
{
// Discover the service responser.
if (!this->Shared()->DiscoverService(fullyQualifiedTopic))
{
std::cerr << "Node::Request(): Error discovering a service. "
<< "Did you forget to start the discovery service?"
<< std::endl;
return false;
}
}
// Wait until the REP is available.
bool executed = reqHandlerPtr->WaitUntil(lk, _timeout);
// The request was not executed.
if (!executed)
return false;
// The request was executed but did not succeed.
if (!reqHandlerPtr->Result())
{
_result = false;
return true;
}
// Parse the response.
if (!_rep.ParseFromString(reqHandlerPtr->Response()))
{
std::cerr << "Node::Request(): Error Parsing the response"
<< std::endl;
_result = false;
return true;
}
_result = true;
return true;
}
/// \brief Request a new service without input parameter using a blocking
/// call.
/// \param[in] _topic Service name requested.
/// \param[in] _timeout The request will timeout after '_timeout' ms.
/// \param[out] _rep Protobuf message containing the response.
/// \param[out] _result Result of the service call.
/// \return true when the request was executed or false if the timeout
/// expired.
public: template<typename ReplyT>
bool Request(
const std::string &_topic,
const unsigned int &_timeout,
ReplyT &_rep,
bool &_result)
{
msgs::Empty req;
return this->Request(_topic, req, _timeout, _rep, _result);
}
/// \brief Request a new service without waiting for response.
/// \param[in] _topic Topic requested.
/// \param[in] _req Protobuf message containing the request's parameters.
/// \return true when the service call was succesfully requested.
public: template<typename RequestT>
bool Request(
const std::string &_topic,
const RequestT &_req)
{
// This callback is here for reusing the regular Request() call with
// input and output parameters.
std::function<void(const ignition::msgs::Empty &, const bool)> f =
[](const ignition::msgs::Empty &, const bool)
{
};
return this->Request<RequestT, ignition::msgs::Empty>(_topic, _req, f);
}
/// \brief Unadvertise a service.
/// \param[in] _topic Service name to be unadvertised.
/// \return true if the service was successfully unadvertised.
public: bool UnadvertiseSrv(const std::string &_topic);
/// \brief Get the list of topics currently advertised in the network.
/// Note that this function can block for some time if the
/// discovery is in its initialization phase.
/// The value of the "heartbeatInterval" constant, with a default
/// value of 1000 ms, sets the maximum blocking time period.
/// \param[out] _topics List of advertised topics.
public: void TopicList(std::vector<std::string> &_topics) const;
/// \brief Get the information about a topic.
/// \param[in] _topic Name of the topic.
/// \param[out] _publishers List of publishers on the topic
/// \return False if unable to get topic info
public: bool TopicInfo(const std::string &_topic,
std::vector<MessagePublisher> &_publishers) const;
/// \brief Get the list of topics currently advertised in the network.
/// Note that this function can block for some time if the
/// discovery is in its initialization phase.
/// The value of the "heartbeatInterval" constant, with a default
/// value of 1000ms, sets the maximum blocking time period.
/// \param[out] _services List of advertised services.
public: void ServiceList(std::vector<std::string> &_services) const;
/// \brief Get the information about a service.
/// \param[in] _service Name of the service.
/// \param[out] _publishers List of publishers on the service.
/// \return False if unable to get service info.
public: bool ServiceInfo(const std::string &_service,
std::vector<ServicePublisher> &_publishers) const;
/// \brief Subscribe to a topic registering a callback. The callback must
/// accept a std::string to represent the message data, and a MessageInfo
/// which provides metadata about the message.
/// \param[in] _topic Name of the topic to subscribe to
/// \param[in] _callback A function pointer or std::function object that
/// has a void return value and accepts two arguments:
/// (const std::string &_msgData, const MessageInfo &_info).
/// \param[in] _msgType The type of message to subscribe to. Using
/// kGenericMessageType (the default) will allow this subscriber to listen
/// to all message types. The callback function can identify the type for
/// each message by inspecting its const MessageInfo& input argument.
/// \param[in] _opts Options for subscribing.
/// \return True if subscribing was successful.
public: bool SubscribeRaw(
const std::string &_topic,
const RawCallback &_callback,
const std::string &_msgType = kGenericMessageType,
const SubscribeOptions &_opts = SubscribeOptions());
/// \brief Get the partition name used by this node.
/// \return The partition name.
private: const std::string &Partition() const;
/// \brief Get the namespace used in this node.
/// \return The namespace
private: const std::string &NameSpace() const;
/// \brief Get a pointer to the shared node (singleton shared by all the
/// nodes).
/// \return The pointer to the shared node.
private: NodeShared *Shared() const;
/// \brief Get the UUID of this node.
/// \return The node UUID.
private: const std::string &NodeUuid() const;
/// \brief Get the set of topics subscribed by this node.
/// \return The set of subscribed topics.
private: std::unordered_set<std::string> &TopicsSubscribed() const;
/// \brief Get the set of services advertised by this node.
/// \return The set of advertised services.
private: std::unordered_set<std::string> &SrvsAdvertised() const;
/// \brief Get the reference to the current node options.
/// \return Reference to the current node options.
private: NodeOptions &Options() const;
/// \brief Helper function for Subscribe.
/// \param[in] _fullyQualifiedTopic Fully qualified topic name
/// \return True on success.
private: bool SubscribeHelper(const std::string &_fullyQualifiedTopic);
/// \internal
/// \brief Smart pointer to private data.
private: std::unique_ptr<transport::NodePrivate> dataPtr;
};
}
}
#endif
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