mujinzmq.h

説明を見る。

// -*- coding: utf-8 -*-
// Copyright (C) 2012-2015 MUJIN Inc.
//
// 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 MUJIN_ZMQ_H
#define MUJIN_ZMQ_H

#include <boost/shared_ptr.hpp>

#include "mujincontrollerclient/zmq.hpp"

namespace mujinzmq
{

#include "mujincontrollerclient/config.h"

class MUJINCLIENT_API ZmqSubscriber
{
public:
    ZmqSubscriber(const std::string& host, const unsigned int port);
    virtual ~ZmqSubscriber();

protected:
    void _InitializeSocket(boost::shared_ptr<zmq::context_t> context);
    void _DestroySocket();

    boost::shared_ptr<zmq::context_t> _context;
    boost::shared_ptr<zmq::socket_t>  _socket;
    std::string _host;
    unsigned int _port;
    bool _sharedcontext;
};

class MUJINCLIENT_API ZmqPublisher
{
public:
    ZmqPublisher(const unsigned int port);
    virtual ~ZmqPublisher();

    bool Publish(const std::string& messagestr);

protected:
    void _InitializeSocket(boost::shared_ptr<zmq::context_t> context);
    void _DestroySocket();

    boost::shared_ptr<zmq::context_t> _context;
    boost::shared_ptr<zmq::socket_t>  _socket;
    unsigned int _port;
    bool _sharedcontext;
};

class MUJINCLIENT_API ZmqClient
{
public:
    ZmqClient(const std::string& host, const unsigned int port);
    virtual ~ZmqClient();

    std::string Call(const std::string& msg, const double timeout=5.0/*secs*/);

protected:
    void _InitializeSocket(boost::shared_ptr<zmq::context_t> context);
    void _DestroySocket();

    unsigned int _port;
    std::string _host;
    boost::shared_ptr<zmq::context_t> _context;
    boost::shared_ptr<zmq::socket_t>  _socket;
    bool _sharedcontext;
};

class MUJINCLIENT_API ZmqServer
{
public:
    ZmqServer(const unsigned int port);
    virtual ~ZmqServer();

    virtual unsigned int Recv(std::string& data, long timeout=0);
    virtual void Send(const std::string& message);

protected:
    virtual void _InitializeSocket(boost::shared_ptr<zmq::context_t> context);
    virtual void _DestroySocket();

    bool _sharedcontext;
    unsigned int _port;
    boost::shared_ptr<zmq::context_t> _context;
    boost::shared_ptr<zmq::socket_t>  _socket;
    zmq::message_t _reply;
    zmq::pollitem_t _pollitem;
    
};

} // namespace mujinzmq
#endif // MUJIN_ZMQ_H