intraprocess_subscriber_link.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2008, Morgan Quigley and 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_INTRAPROCESS_SUBSCRIBER_LINK_H 00029 #define ROSCPP_INTRAPROCESS_SUBSCRIBER_LINK_H 00030 #include "subscriber_link.h" 00031 #include "common.h" 00032 00033 #include <boost/thread/recursive_mutex.hpp> 00034 00035 namespace ros 00036 { 00037 00038 class IntraProcessPublisherLink; 00039 typedef boost::shared_ptr<IntraProcessPublisherLink> IntraProcessPublisherLinkPtr; 00040 00044 class ROSCPP_DECL IntraProcessSubscriberLink : public SubscriberLink 00045 { 00046 public: 00047 IntraProcessSubscriberLink(const PublicationPtr& parent); 00048 virtual ~IntraProcessSubscriberLink(); 00049 00050 void setSubscriber(const IntraProcessPublisherLinkPtr& subscriber); 00051 bool isLatching(); 00052 00053 virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy); 00054 virtual void drop(); 00055 virtual std::string getTransportType(); 00056 virtual bool isIntraprocess() { return true; } 00057 virtual void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti); 00058 00059 private: 00060 IntraProcessPublisherLinkPtr subscriber_; 00061 bool dropped_; 00062 boost::recursive_mutex drop_mutex_; 00063 }; 00064 typedef boost::shared_ptr<IntraProcessSubscriberLink> IntraProcessSubscriberLinkPtr; 00065 00066 } // namespace ros 00067 00068 #endif // ROSCPP_INTRAPROCESS_SUBSCRIBER_LINK_H