MessageTransportTask.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef FIPA_SERVICES_MESSAGETRANSPORT_TASK_HPP
#define FIPA_SERVICES_MESSAGETRANSPORT_TASK_HPP

#include "fipa_services/MessageTransportTaskBase.hpp"

#include <map>
#include <vector>
#include <boost/thread.hpp>
#include <service_discovery/ServiceDiscovery.hpp>
#include <fipa_services/ServiceDirectoryEntry.hpp>

namespace fipa {
namespace services {
    class Transport;
    
    namespace message_transport {
        class MessageTransport;
    }

} // namespace service
} // namespace fipa

namespace fipa_services {

    class MessageTransportTask : public MessageTransportTaskBase
    {
        friend class MessageTransportTaskBase;
    protected:
        mutable boost::mutex mConnectToMTSMutex; 
        mutable boost::shared_mutex mServiceChangeMutex; 

        fipa::services::message_transport::MessageTransport* mMessageTransport;
        
        std::string mInterface;
        std::string mClientServiceType;
        
        // Service directory entries of other agents (where mDNS is not supported).
        // They will be all registered with the DSD.
        std::vector<fipa::services::ServiceDirectoryEntry> mExtraServiceDirectoryEntries;

        // Receiver ports for receivers that have been attached via the given operation
        typedef std::map<std::string, RTT::base::OutputPortInterface*> ReceiverPorts;
        ReceiverPorts mReceivers;

        /* Upon adding of a receiver, a new output port for this receiver is generated. Output port will be of receivers name (if successful)
         */
        virtual bool addReceiver(::std::string const & receiver, bool is_local = false);
        
        /* Retrieve list of currently attached receivers
         */
        virtual ::std::vector< ::std::string > getReceivers();

        /* Upon removal of a receiver, the corresponding output port is removed
         */
        virtual bool removeReceiver(::std::string const & receiver);

        bool addReceiverPort(RTT::base::OutputPortInterface* outputPort, const std::string& name);

        bool removeReceiverPort(const std::string& name);
        
        void registerService(std::string receiver);
        void deregisterService(std::string receiver);

        void serviceAdded(servicediscovery::avahi::ServiceEvent event);

        void serviceRemoved(servicediscovery::avahi::ServiceEvent event);

        void connectToMTS(const std::string& serviceName, const std::string& ior);
        
        /*
         * Local delivery to an output port
         */
        bool deliverLetterLocally(const std::string& receiverName, const fipa::acl::Letter& letter);

        void initializeMessageTransport();

    public:
        MessageTransportTask(std::string const& name = "fipa_services::MessageTransportTask");

        MessageTransportTask(std::string const& name, RTT::ExecutionEngine* engine);

        ~MessageTransportTask();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif