transport.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2008, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  */
34 
35 #ifndef ROSCPP_TRANSPORT_H
36 #define ROSCPP_TRANSPORT_H
37 
38 #include <ros/types.h>
39 #include <boost/function.hpp>
40 #include <boost/shared_ptr.hpp>
41 #include <boost/enable_shared_from_this.hpp>
42 #include <vector>
43 
44 namespace ros
45 {
46 
47 class Transport;
49 
50 class Header;
51 
55 class Transport : public boost::enable_shared_from_this<Transport>
56 {
57 public:
58  Transport();
59  virtual ~Transport() {}
60 
67  virtual int32_t read(uint8_t* buffer, uint32_t size) = 0;
74  virtual int32_t write(uint8_t* buffer, uint32_t size) = 0;
75 
79  virtual void enableWrite() = 0;
83  virtual void disableWrite() = 0;
84 
88  virtual void enableRead() = 0;
92  virtual void disableRead() = 0;
93 
97  virtual void close() = 0;
98 
103  virtual const char* getType() = 0;
104 
105  typedef boost::function<void(const TransportPtr&)> Callback;
113  void setReadCallback(const Callback& cb) { read_cb_ = cb; }
117  void setWriteCallback(const Callback& cb) { write_cb_ = cb; }
118 
122  virtual std::string getTransportInfo() = 0;
123 
127  virtual bool requiresHeader() {return true;}
128 
132  virtual void parseHeader(const Header& header) { (void)header; }
133 
134 protected:
138 
142  bool isHostAllowed(const std::string &host) const;
143 
148 
149 private:
151  std::vector<std::string> allowed_hosts_;
152 };
153 
154 }
155 
156 #endif // ROSCPP_TRANSPORT_H
boost::shared_ptr< Transport >
ros::Transport::read
virtual int32_t read(uint8_t *buffer, uint32_t size)=0
Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes...
ros
ros::Transport::allowed_hosts_
std::vector< std::string > allowed_hosts_
Definition: transport.h:151
ros::Header
ros::Transport::setDisconnectCallback
void setDisconnectCallback(const Callback &cb)
Set the function to call when this transport has disconnected, either through a call to close()....
Definition: transport.h:109
ros::Transport::write_cb_
Callback write_cb_
Definition: transport.h:137
ros::Transport::disableRead
virtual void disableRead()=0
Disable reading on this transport. Allows derived classes to, for example, disable read polling for a...
ros::Transport
Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory,...
Definition: transport.h:55
ros::Transport::disableWrite
virtual void disableWrite()=0
Disable writing on this transport. Allows derived classes to, for example, disable write polling for ...
ros::Transport::close
virtual void close()=0
Close this transport. Once this call has returned, writing on this transport should always return an ...
ros::Transport::enableWrite
virtual void enableWrite()=0
Enable writing on this transport. Allows derived classes to, for example, enable write polling for as...
ros::Transport::write
virtual int32_t write(uint8_t *buffer, uint32_t size)=0
Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of byt...
ros::Transport::Callback
boost::function< void(const TransportPtr &)> Callback
Definition: transport.h:105
ros::Transport::setReadCallback
void setReadCallback(const Callback &cb)
Set the function to call when there is data available to be read by this transport.
Definition: transport.h:113
ros::Transport::getType
virtual const char * getType()=0
Return a string that details the type of transport (Eg. TCPROS)
ros::Transport::isOnlyLocalhostAllowed
bool isOnlyLocalhostAllowed() const
returns true if this transport is only allowed to talk to localhost
Definition: transport.h:147
ros::Transport::Transport
Transport()
Definition: transport.cpp:56
roslib::Header_< std::allocator< void > >
ros::Transport::isHostAllowed
bool isHostAllowed(const std::string &host) const
returns true if the transport is allowed to connect to the host passed to it.
Definition: transport.cpp:111
ros::Transport::parseHeader
virtual void parseHeader(const Header &header)
Provides an opportunity for transport-specific options to come in through the header.
Definition: transport.h:132
ros::Transport::~Transport
virtual ~Transport()
Definition: transport.h:59
ros::TransportPtr
boost::shared_ptr< Transport > TransportPtr
Definition: connection.h:55
ros::Transport::only_localhost_allowed_
bool only_localhost_allowed_
Definition: transport.h:150
ros::Transport::disconnect_cb_
Callback disconnect_cb_
Definition: transport.h:135
header
const std::string header
types.h
ros::Transport::setWriteCallback
void setWriteCallback(const Callback &cb)
Set the function to call when there is space available to write on this transport.
Definition: transport.h:117
ros::Transport::read_cb_
Callback read_cb_
Definition: transport.h:136
ros::Transport::requiresHeader
virtual bool requiresHeader()
Returns a boolean to indicate if the transport mechanism is reliable or not.
Definition: transport.h:127
ros::Transport::enableRead
virtual void enableRead()=0
Enable reading on this transport. Allows derived classes to, for example, enable read polling for asy...
ros::Transport::getTransportInfo
virtual std::string getTransportInfo()=0
Returns a string description of both the type of transport and who the transport is connected to.


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim, Dirk Thomas
autogenerated on Sat Oct 17 2020 19:28:47