header.h
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROSCPP_HEADER_H 00036 #define ROSCPP_HEADER_H 00037 00038 #include <stdint.h> 00039 00040 #include <boost/shared_array.hpp> 00041 #include <boost/shared_ptr.hpp> 00042 #include "common.h" 00043 00044 #include <map> 00045 00046 namespace ros 00047 { 00048 00049 typedef std::map<std::string, std::string> M_string; 00050 typedef boost::shared_ptr<M_string> M_stringPtr; 00051 00052 class Transport; 00053 typedef boost::shared_ptr<Transport> TransportPtr; 00054 00058 class ROSCPP_DECL Header 00059 { 00060 public: 00061 Header(); 00062 ~Header(); 00063 00070 bool getValue(const std::string& key, std::string& value) const; 00074 M_stringPtr getValues() { return read_map_; } 00075 00079 bool parse(const boost::shared_array<uint8_t>& buffer, uint32_t size, std::string& error_msg); 00080 00084 bool parse(uint8_t* buffer, uint32_t size, std::string& error_msg); 00085 00086 static void write(const M_string& key_vals, boost::shared_array<uint8_t>& buffer, uint32_t& size); 00087 00088 private: 00089 00090 M_stringPtr read_map_; 00091 }; 00092 00093 } 00094 00095 #endif // ROSCPP_HEADER_H