master.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_MASTER_H 00029 #define ROSCPP_MASTER_H 00030 00031 #include "forwards.h" 00032 #include "XmlRpcValue.h" 00033 #include "common.h" 00034 00035 namespace ros 00036 { 00037 00041 namespace master 00042 { 00043 00054 ROSCPP_DECL bool execute(const std::string& method, const XmlRpc::XmlRpcValue& request, XmlRpc::XmlRpcValue& response, XmlRpc::XmlRpcValue& payload, bool wait_for_master); 00055 00060 ROSCPP_DECL const std::string& getHost(); 00065 ROSCPP_DECL uint32_t getPort(); 00069 ROSCPP_DECL const std::string& getURI(); 00070 00080 ROSCPP_DECL bool check(); 00081 00085 struct ROSCPP_DECL TopicInfo 00086 { 00087 TopicInfo() {} 00088 TopicInfo(const std::string& _name, const std::string& _datatype /*, const std::string& _md5sum*/) 00089 : name(_name) 00090 , datatype(_datatype) 00091 //, md5sum(_md5sum) 00092 {} 00093 std::string name; 00094 std::string datatype; 00095 00096 // not possible yet unfortunately (master does not have this information) 00097 //std::string md5sum; ///< md5sum of the topic 00098 }; 00099 typedef std::vector<TopicInfo> V_TopicInfo; 00100 00113 ROSCPP_DECL bool getTopics(V_TopicInfo& topics); 00114 00118 ROSCPP_DECL bool getNodes(V_string& nodes); 00119 00124 ROSCPP_DECL void setRetryTimeout(ros::WallDuration timeout); 00125 00126 } // namespace master 00127 00128 } // namespace ros 00129 00130 #endif