Master.hh

#ifndef MASTER_HH
#define MASTER_HH

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

#include "msgs/msgs.h"
#include "transport/Connection.hh"

namespace gazebo
{

  class Master
  {
    public: Master();

    public: virtual ~Master();

    public: void Init(unsigned short _port);

    public: void Run();

    public: void RunThread();

    public: void RunOnce();

    public: void Stop();

    public: void Fini();

    private: void ProcessMessage(const unsigned int _connectionIndex,
                                 const std::string &_data);

    private: void OnRead(const unsigned int _connectionIndex,
                         const std::string &_data);

    private: void OnAccept(const transport::ConnectionPtr &_newConnection);

    private: msgs::Publish GetPublisher( const std::string &_topic );

    private: transport::ConnectionPtr FindConnection(const std::string &_host, 
                                                     unsigned short _port);


    private: void RemoveConnection(unsigned int _index);
    private: void RemovePublisher(const msgs::Publish _pub);
    private: void RemoveSubscriber(const msgs::Subscribe _sub);

    typedef std::map<unsigned int, transport::ConnectionPtr> Connection_M;
    typedef std::list< std::pair<msgs::Publish, transport::ConnectionPtr> > PubList;
    typedef std::list< std::pair<msgs::Subscribe, transport::ConnectionPtr> > SubList;
    private: PubList publishers;
    private: SubList subscribers;

    private: Connection_M connections;
    private: std::list< std::string > worldNames;
    private: std::list< std::pair<unsigned int, std::string> > msgs;

    private: transport::Connection *connection;
    private: boost::thread *runThread;
    private: bool stop;

    private: boost::recursive_mutex *connectionMutex, *msgsMutex;
  };
}

#endif