application.h

// Copyright 2009-2018 Toby Schneider (http://gobysoft.org/index.wt/people/toby)
//                     GobySoft, LLC (2013-)
//                     Massachusetts Institute of Technology (2007-2014)
//                     Community contributors (see AUTHORS file)
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.

#ifndef APPLICATION20100908H
#define APPLICATION20100908H

#include "goby/common/core_helpers.h"
#include "goby/common/exception.h"
#include "goby/common/logger.h"

#include "goby/pb/protobuf/config.pb.h"
#include "goby/pb/protobuf/header.pb.h"

#include "goby/common/zeromq_application_base.h"
#include "protobuf_pubsub_node_wrapper.h"

namespace google
{
namespace protobuf
{
class Message;
}
} // namespace google
namespace goby
{
namespace pb
{
class Application : public common::ZeroMQApplicationBase
{
  protected:
    // make these more accessible
    typedef goby::common::Colors Colors;


    Application(google::protobuf::Message* cfg = 0);
    virtual ~Application();



    void publish(const google::protobuf::Message& msg, const std::string& group = "");


    template <typename ProtoBufMessage>
    void subscribe(boost::function<void(const ProtoBufMessage&)> handler =
                       boost::function<void(const ProtoBufMessage&)>(),
                   const std::string& group = "")
    {
        if (pubsub_node_)
            pubsub_node_->subscribe<ProtoBufMessage>(handler, group);
    }

    template <typename ProtoBufMessage, class C>
    void subscribe(void (C::*mem_func)(const ProtoBufMessage&), C* obj,
                   const std::string& group = "")
    {
        if (pubsub_node_)
            pubsub_node_->subscribe<ProtoBufMessage>(boost::bind(mem_func, obj, _1), group);
    }


    /*             template<typename ProtoBufMessage> */
    /*                 const ProtoBufMessage& newest() */
    /*             { */
    /*                 if(pubsub_node_) */
    /*                     return pubsub_node_->newest<ProtoBufMessage>(); */
    /*                 else */
    /*                     throw(goby::Exception("not using pubsub, can't call newest")); */
    /*      } */


    common::ZeroMQService& zeromq_service() { return zeromq_service_; }

    boost::shared_ptr<StaticProtobufPubSubNodeWrapper> pubsub_node() { return pubsub_node_; }

  private:
    Application(const Application&);
    Application& operator=(const Application&);

    void __set_up_sockets();

  private:
    common::ZeroMQService zeromq_service_;
    boost::shared_ptr<StaticProtobufNode> protobuf_node_;
    boost::shared_ptr<StaticProtobufPubSubNodeWrapper> pubsub_node_;
};
} // namespace pb
} // namespace goby

#endif