/usr/include/gazebo-9/gazebo/Master.hh is in libgazebo9-dev 9.0.0+dfsg5-3ubuntu1.
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* Copyright (C) 2012 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 _MASTER_HH_
#define _MASTER_HH_
#include <string>
#include <list>
#include <deque>
#include <utility>
#include <map>
#include <boost/shared_ptr.hpp>
#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/Connection.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
// Forward declare private data class
struct MasterPrivate;
/// \class Master Master.hh gazebo_core.hh
/// \brief A manager that directs topic connections, enables each gazebo
/// network client to locate one another for peer-to-peer communication.
class GAZEBO_VISIBLE Master
{
/// \def Map of unique id's to connections.
public: typedef
std::map<unsigned int, transport::ConnectionPtr> Connection_M;
/// \def Map of publish messages to connections.
public: typedef
std::list< std::pair<msgs::Publish, transport::ConnectionPtr> >
PubList;
/// \def Map of subscribe messages to connections.
public: typedef
std::list< std::pair<msgs::Subscribe, transport::ConnectionPtr> >
SubList;
/// \brief Constructor
public: Master();
/// \brief Destructor
public: virtual ~Master();
/// \brief Initialize
/// \param[in] _port The master's port
public: void Init(uint16_t _port);
/// \brief Run the master.
public: void Run();
/// \brief Run the master in a new thread
public: void RunThread();
/// \brief Run the master one iteration
public: void RunOnce();
/// \brief Stop the master
public: void Stop();
/// \brief Finalize the master
public: void Fini();
/// \brief Send a message to subscribers to a given topic
/// \param[in] _topic Name of the topic
/// \param[in] _buffer Data to write
private: void SendSubscribers(const std::string &_topic,
const std::string &_buffer);
/// \brief Process a message
/// \param[in] _connectionIndex Index of the connection which generated the
/// message
/// \param[i] _data The message data
private: void ProcessMessage(const unsigned int _connectionIndex,
const std::string &_data);
/// \brief Connection read callback
/// \param[in] _connectionIndex Index of the connection which generated the
/// message
/// \param[in] _data The message data
private: void OnRead(const unsigned int _connectionIndex,
const std::string &_data);
/// \brief Accept a new connection
/// \param[in] _newConnection The new connection
private: void OnAccept(transport::ConnectionPtr _newConnection);
/// \brief Get a publisher for the given topic
/// \param[in] _topic Name of the topic
/// \return A publish message
private: msgs::Publish GetPublisher(const std::string &_topic);
/// \brief Find a connection given a host and port
/// \param[in] _host Host name
/// \param[in] _port Port number
/// \return The found connection, or NULL
private: transport::ConnectionPtr FindConnection(const std::string &_host,
uint16_t _port);
/// \brief Remove a connection.
/// \param[in] _connIter Iterator to the connection to remove.
/// _connIter will be incremented when removed.
private: void RemoveConnection(Connection_M::iterator _connIter);
/// \brief Remove a publisher.
/// \param[in] _pub Publish message that contains the info necessary to
/// remove a publisher.
private: void RemovePublisher(const msgs::Publish _pub);
/// \brief Remove a subscriber.
/// \param[in] _pub Subscribe message that contains the info necessary to
/// remove a subscriber.
private: void RemoveSubscriber(const msgs::Subscribe _sub);
/// \internal
/// \brief Pointer to private data.
private: std::unique_ptr<MasterPrivate> dataPtr;
};
}
#endif
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