Program Listing for File DesertNode.h

↰ Return to documentation for file (src/desert_classes/DesertNode.h)

/****************************************************************************
 * Copyright (C) 2024 Davide Costa                                          *
 *                                                                          *
 * This file is part of RMW desert.                                         *
 *                                                                          *
 *   RMW desert is free software: you can redistribute it and/or modify it  *
 *   under the terms of the GNU General Public License as published by the  *
 *   Free Software Foundation, either version 3 of the License, or any      *
 *   later version.                                                         *
 *                                                                          *
 *   RMW desert is distributed in the hope that it will be useful,          *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
 *   GNU General Public License for more details.                           *
 *                                                                          *
 *   You should have received a copy of the GNU General Public License      *
 *   along with RMW desert.  If not, see <http://www.gnu.org/licenses/>.    *
 ****************************************************************************/

#ifndef DESERT_NODE_H_
#define DESERT_NODE_H_

#include "rmw/rmw.h"
#include "rmw/types.h"

#include <vector>
#include <string>

#include "CBorStream.h"
#include "DesertPublisher.h"
#include "DesertSubscriber.h"
#include "DesertClient.h"
#include "DesertService.h"
#include "Discovery.h"
#include "TopicsConfig.h"

class DesertNode
{
  public:
    DesertNode(std::string name, std::string namespace_, rmw_gid_t gid);
    ~DesertNode();

    void add_publisher(DesertPublisher * pub);

    void add_subscriber(DesertSubscriber * sub);

    void add_client(DesertClient * cli);

    void add_service(DesertService * ser);

    void remove_publisher(DesertPublisher * pub);

    void remove_subscriber(DesertSubscriber * sub);

    void remove_client(DesertClient * cli);

    void remove_service(DesertService * ser);

    rmw_gid_t get_gid();

  private:
    rmw_gid_t _gid;
    std::string _name;
    std::string _namespace;
    cbor::TxStream _discovery_beacon_data_stream;
    cbor::RxStream _discovery_request_data_stream;

    std::vector<DesertPublisher *> _publishers;
    std::vector<DesertSubscriber *> _subscribers;
    std::vector<DesertClient *> _clients;
    std::vector<DesertService *> _services;

    void publish_all_beacons();

    bool _discovery_done;
    std::thread _discovery_request_thread;

    void _discovery_request();

};

#endif