subscriber_link.cpp
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 #include "ros/subscriber_link.h" 00029 #include "ros/publication.h" 00030 00031 #include <boost/bind.hpp> 00032 00033 namespace ros 00034 { 00035 00036 SubscriberLink::SubscriberLink() 00037 { 00038 00039 } 00040 00041 SubscriberLink::~SubscriberLink() 00042 { 00043 00044 } 00045 00046 bool SubscriberLink::verifyDatatype(const std::string &datatype) 00047 { 00048 PublicationPtr parent = parent_.lock(); 00049 if (!parent) 00050 { 00051 ROS_ERROR("Trying to verify the datatype on a publisher without a parent"); 00052 ROS_BREAK(); 00053 00054 return false; 00055 } 00056 00057 if (datatype != parent->getDataType()) 00058 { 00059 ROS_ERROR( "tried to send a message with type %s on a " \ 00060 "TransportSubscriberLink that has datatype %s", 00061 datatype.c_str(), parent->getDataType().c_str()); 00062 return false; // todo: figure out a way to log this error 00063 } 00064 00065 return true; 00066 } 00067 00068 const std::string& SubscriberLink::getMD5Sum() 00069 { 00070 PublicationPtr parent = parent_.lock(); 00071 return parent->getMD5Sum(); 00072 } 00073 00074 const std::string& SubscriberLink::getDataType() 00075 { 00076 PublicationPtr parent = parent_.lock(); 00077 return parent->getDataType(); 00078 } 00079 00080 const std::string& SubscriberLink::getMessageDefinition() 00081 { 00082 PublicationPtr parent = parent_.lock(); 00083 return parent->getMessageDefinition(); 00084 } 00085 00086 } // namespace ros