agv_rviz/Processing_Message/Processing_message.h

//
// Created by wk on 2020/9/17.
//

#ifndef SRC_PROCESSING_MESSAGE_H
#define SRC_PROCESSING_MESSAGE_H
#include <nnxx/socket>
#include <nnxx/message>
#include <thread>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <math.h>
#include <geometry_msgs/PoseStamped.h>
#include <map>
#include "../message/message_base.pb.h"
#include "../message/ros_message.pb.h"
#include "../tool/thread_condition.h"
#include "../tool/thread_safe_queue.h"
#include "../tool/singleton.h"
class Processing_message:public Singleton<Processing_message>
{
	// 子类必须把父类设定为友元函数，这样父类才能使用子类的私有构造函数。
	friend class Singleton<Processing_message>;
public:
	enum Connect_statu
	{
		CONNECT_ERROR		=0,	        //连接错误
		CONNECT_NORMAL		=1,			//连接正常
	};
private:
	// 父类的构造函数必须保护，子类的构造函数必须私有。
	Processing_message();

public:
	//必须关闭拷贝构造和赋值构造，只能通过 get_instance 函数来进行操作唯一的实例。
	Processing_message(const Processing_message& other)= delete;
	Processing_message& operator =(const Processing_message& other)= delete;
	~Processing_message();
public://API functions
	void Processing_message_init(std::string);//默认为连接
	void Processing_message_connect(std::string);
	void Processing_message_band(std::string);
	void Processing_message_run();
	void Processing_message_uninit();
	sensor_msgs::PointCloud create_cloudmsg(message::PointCloud_msg);//填充消息
	geometry_msgs::PoseStamped create_posemsg(message::Pose2d_msg);//填充消息
	static void goalCallback(const geometry_msgs::PoseStamped::ConstPtr&);
public://get or set member variable
	ros::Publisher* find_topic(std::string);
	Connect_statu get_connect_statu();

protected:
	void socket_receive_data_thread();
	void ros_public_thread();
	void socket_send_data_thread();
protected://member variable
	nnxx::socket 						m_socket { nnxx::SP, nnxx::BUS  };
	std::mutex 							m_socket_mutex;					//m_socket的锁
	Connect_statu 						m_connect_statu;				//连接状态

	Thread_safe_queue<std::string>		m_socket_data_queue;			//存放数据的queue
	Thread_safe_queue<std::string>		m_send_data_queue;				//存放发送数据的queue

	std::thread*						mp_socket_receive_data_thread; 	//接收消息线程
	Thread_condition					m_socket_receive_condition;		//接受的条件变量

	std::thread*						mp_ros_public_thread;    		//发布的线程指针
	Thread_condition					m_ros_public_condition;			//发布的条件变量

	std::thread*						mp_socket_send_data_thread;    	//发送的线程指针
	Thread_condition					m_socket_send_data_condition;	//发送的条件变量

	ros::Subscriber						m_subscriber;					//用于就收rviz上的消息
	ros::NodeHandle 					m_nodehandele;					//用于创建新的发布器
	std::map<std::string,ros::Publisher*>		m_ros_publisher_map;	//用于查询是否存在topic

private:

};

#endif //SRC_PROCESSING_MESSAGE_H