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00028 #ifndef ROSCPP_PUBLISHER_LINK_H
00029 #define ROSCPP_PUBLISHER_LINK_H
00030
00031 #include "ros/common.h"
00032 #include "ros/transport_hints.h"
00033 #include "ros/header.h"
00034 #include "common.h"
00035 #include <boost/thread/mutex.hpp>
00036 #include <boost/shared_array.hpp>
00037 #include <boost/weak_ptr.hpp>
00038 #include <boost/enable_shared_from_this.hpp>
00039
00040 #include <queue>
00041
00042 namespace ros
00043 {
00044 class Header;
00045 class Message;
00046 class Subscription;
00047 typedef boost::shared_ptr<Subscription> SubscriptionPtr;
00048 typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
00049 class Connection;
00050 typedef boost::shared_ptr<Connection> ConnectionPtr;
00051
00056 class ROSCPP_DECL PublisherLink : public boost::enable_shared_from_this<PublisherLink>
00057 {
00058 public:
00059 class Stats
00060 {
00061 public:
00062 uint64_t bytes_received_, messages_received_, drops_;
00063 Stats()
00064 : bytes_received_(0), messages_received_(0), drops_(0) { }
00065 };
00066
00067
00068 PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints);
00069 virtual ~PublisherLink();
00070
00071 const Stats &getStats() { return stats_; }
00072 const std::string& getPublisherXMLRPCURI();
00073 int getConnectionID() const { return connection_id_; }
00074 const std::string& getCallerID() { return caller_id_; }
00075 bool isLatched() { return latched_; }
00076
00077 bool setHeader(const Header& header);
00078
00082 virtual void handleMessage(const SerializedMessage& m, bool ser, bool nocopy) = 0;
00083 virtual std::string getTransportType() = 0;
00084 virtual void drop() = 0;
00085
00086 const std::string& getMD5Sum();
00087
00088 protected:
00089 SubscriptionWPtr parent_;
00090 unsigned int connection_id_;
00091 std::string publisher_xmlrpc_uri_;
00092
00093 Stats stats_;
00094
00095 TransportHints transport_hints_;
00096
00097 bool latched_;
00098 std::string caller_id_;
00099 Header header_;
00100 std::string md5sum_;
00101 };
00102
00103 }
00104
00105 #endif // ROSCPP_PUBLISHER_LINK_H
00106
00107
00108