ConnectionManager.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * 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 CONNECTION_MANAGER_HH
#define CONNECTION_MANAGER_HH

#include <string>
#include <boost/shared_ptr.hpp>

#include "common/SingletonT.hh"
#include "msgs/msgs.h"

#include "transport/Publisher.hh"
#include "transport/Connection.hh"

namespace gazebo
{
  namespace transport
  {

    class ConnectionManager : public SingletonT<ConnectionManager>
    {
      private: ConnectionManager();

      private: virtual ~ConnectionManager();

      public: bool Init(const std::string &master_host, 
                        unsigned short master_port);

      public: void Run();

      public: bool IsRunning() const;

      public: void Fini();

      public: void Stop();

      public: void Subscribe( const std::string &_topic, 
                              const std::string &_msgType,
                              bool _latching);

      public: void Unsubscribe( const msgs::Subscribe &_sub );

      public: void Unsubscribe( const std::string &_topic,
                                const std::string &_msgType );

      public: void Advertise( const std::string &topic, 
                              const std::string &msgType);

      public: void Unadvertise( const std::string &topic );

      public: void GetAllPublishers( std::list<msgs::Publish> &publishers );

      public: void RemoveConnection(ConnectionPtr &conn);

      public: void RegisterTopicNamespace(const std::string &_name);

      public: void GetTopicNamespaces(std::list<std::string> &_namespaces);

      private: ConnectionPtr FindConnection(const std::string &host, 
                                            unsigned short port);
             
      public: ConnectionPtr ConnectToRemoteHost( const std::string &host,
                                                  unsigned short port);

      private: void OnMasterRead( const std::string &data );

      private: void OnAccept(const ConnectionPtr &new_connection);

      private: void OnRead( const ConnectionPtr &new_connection,
                            const std::string &data );

      private: void ProcessMessage(const std::string &_packet);

      private: ConnectionPtr masterConn;
      private: Connection *serverConn;

      private: std::list<ConnectionPtr> connections;

      private: bool initialized;
      private: bool stop;
      private: boost::thread *thread;

      private: unsigned int tmpIndex;
      private: boost::recursive_mutex *listMutex;
      private: boost::recursive_mutex *masterMessagesMutex;
      private: boost::recursive_mutex *connectionMutex;

      private: std::list<msgs::Publish> publishers;
      private: std::list<std::string> namespaces;
      private: std::list<std::string> masterMessages;

      //Singleton implementation
      private: friend class SingletonT<ConnectionManager>;
    };
  }
}

#endif