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00028 #ifndef ROSCPP_FORWARDS_H
00029 #define ROSCPP_FORWARDS_H
00030
00031 #include <string>
00032 #include <vector>
00033 #include <map>
00034 #include <set>
00035 #include <list>
00036
00037 #include <boost/shared_ptr.hpp>
00038 #include <boost/weak_ptr.hpp>
00039 #include <boost/function.hpp>
00040
00041 #include <ros/time.h>
00042 #include <ros/macros.h>
00043 #include "exceptions.h"
00044
00045 namespace ros
00046 {
00047
00048 typedef boost::shared_ptr<void> VoidPtr;
00049 typedef boost::weak_ptr<void> VoidWPtr;
00050 typedef boost::shared_ptr<void const> VoidConstPtr;
00051 typedef boost::weak_ptr<void const> VoidConstWPtr;
00052
00053 class Header;
00054 class Transport;
00055 typedef boost::shared_ptr<Transport> TransportPtr;
00056 class TransportTCP;
00057 typedef boost::shared_ptr<TransportTCP> TransportTCPPtr;
00058 class TransportUDP;
00059 typedef boost::shared_ptr<TransportUDP> TransportUDPPtr;
00060 class Connection;
00061 typedef boost::shared_ptr<Connection> ConnectionPtr;
00062 typedef std::set<ConnectionPtr> S_Connection;
00063 typedef std::vector<ConnectionPtr> V_Connection;
00064 class Publication;
00065 typedef boost::shared_ptr<Publication> PublicationPtr;
00066 typedef std::vector<PublicationPtr> V_Publication;
00067 class SubscriberLink;
00068 typedef boost::shared_ptr<SubscriberLink> SubscriberLinkPtr;
00069 typedef std::vector<SubscriberLinkPtr> V_SubscriberLink;
00070 class Subscription;
00071 typedef boost::shared_ptr<Subscription> SubscriptionPtr;
00072 typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
00073 typedef std::list<SubscriptionPtr> L_Subscription;
00074 typedef std::vector<SubscriptionPtr> V_Subscription;
00075 typedef std::set<SubscriptionPtr> S_Subscription;
00076 class PublisherLink;
00077 typedef boost::shared_ptr<PublisherLink> PublisherLinkPtr;
00078 typedef std::vector<PublisherLinkPtr> V_PublisherLink;
00079 class ServicePublication;
00080 typedef boost::shared_ptr<ServicePublication> ServicePublicationPtr;
00081 typedef std::list<ServicePublicationPtr> L_ServicePublication;
00082 typedef std::vector<ServicePublicationPtr> V_ServicePublication;
00083 class ServiceServerLink;
00084 typedef boost::shared_ptr<ServiceServerLink> ServiceServerLinkPtr;
00085 typedef std::list<ServiceServerLinkPtr> L_ServiceServerLink;
00086 class Transport;
00087 typedef boost::shared_ptr<Transport> TransportPtr;
00088 class NodeHandle;
00089 typedef boost::shared_ptr<NodeHandle> NodeHandlePtr;
00090
00091 typedef std::vector<std::pair<std::string, std::string> > VP_string;
00092 typedef std::vector<std::string> V_string;
00093 typedef std::set<std::string> S_string;
00094 typedef std::map<std::string, std::string> M_string;
00095 typedef std::pair<std::string, std::string> StringPair;
00096
00097 class SingleSubscriberPublisher;
00098 typedef boost::function<void(const SingleSubscriberPublisher&)> SubscriberStatusCallback;
00099
00100 class CallbackQueue;
00101 class CallbackQueueInterface;
00102 class CallbackInterface;
00103 typedef boost::shared_ptr<CallbackInterface> CallbackInterfacePtr;
00104
00105 struct SubscriberCallbacks
00106 {
00107 SubscriberCallbacks(const SubscriberStatusCallback& connect = SubscriberStatusCallback(),
00108 const SubscriberStatusCallback& disconnect = SubscriberStatusCallback(),
00109 const VoidConstPtr& tracked_object = VoidConstPtr(),
00110 CallbackQueueInterface* callback_queue = 0)
00111 : connect_(connect)
00112 , disconnect_(disconnect)
00113 , callback_queue_(callback_queue)
00114 {
00115 has_tracked_object_ = false;
00116 if (tracked_object)
00117 {
00118 has_tracked_object_ = true;
00119 tracked_object_ = tracked_object;
00120 }
00121 }
00122 SubscriberStatusCallback connect_;
00123 SubscriberStatusCallback disconnect_;
00124
00125 bool has_tracked_object_;
00126 VoidConstWPtr tracked_object_;
00127 CallbackQueueInterface* callback_queue_;
00128 };
00129 typedef boost::shared_ptr<SubscriberCallbacks> SubscriberCallbacksPtr;
00130
00134 struct TimerEvent
00135 {
00136 Time last_expected;
00137 Time last_real;
00138
00139 Time current_expected;
00140 Time current_real;
00141
00142 struct
00143 {
00144 WallDuration last_duration;
00145 } profile;
00146 };
00147 typedef boost::function<void(const TimerEvent&)> TimerCallback;
00148
00152 struct WallTimerEvent
00153 {
00154 WallTime last_expected;
00155 WallTime last_real;
00156
00157 WallTime current_expected;
00158 WallTime current_real;
00159
00160 struct
00161 {
00162 WallDuration last_duration;
00163 } profile;
00164 };
00165 typedef boost::function<void(const WallTimerEvent&)> WallTimerCallback;
00166
00167 class ServiceManager;
00168 typedef boost::shared_ptr<ServiceManager> ServiceManagerPtr;
00169 class TopicManager;
00170 typedef boost::shared_ptr<TopicManager> TopicManagerPtr;
00171 class ConnectionManager;
00172 typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
00173 class XMLRPCManager;
00174 typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
00175 class PollManager;
00176 typedef boost::shared_ptr<PollManager> PollManagerPtr;
00177
00178 }
00179
00180 #endif