transport_hints.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, 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_TRANSPORT_HINTS_H 00029 #define ROSCPP_TRANSPORT_HINTS_H 00030 00031 #include "common.h" 00032 #include "ros/forwards.h" 00033 00034 #include <boost/lexical_cast.hpp> 00035 00036 namespace ros 00037 { 00038 00054 class ROSCPP_DECL TransportHints 00055 { 00056 public: 00060 TransportHints& reliable() 00061 { 00062 tcp(); 00063 00064 return *this; 00065 } 00066 00070 TransportHints& tcp() 00071 { 00072 transports_.push_back("TCP"); 00073 return *this; 00074 } 00075 00082 TransportHints& tcpNoDelay(bool nodelay = true) 00083 { 00084 options_["tcp_nodelay"] = nodelay ? "true" : "false"; 00085 return *this; 00086 } 00087 00091 bool getTCPNoDelay() 00092 { 00093 M_string::iterator it = options_.find("tcp_nodelay"); 00094 if (it == options_.end()) 00095 { 00096 return false; 00097 } 00098 00099 const std::string& val = it->second; 00100 if (val == "true") 00101 { 00102 return true; 00103 } 00104 00105 return false; 00106 } 00107 00113 TransportHints& maxDatagramSize(int size) 00114 { 00115 options_["max_datagram_size"] = boost::lexical_cast<std::string>(size); 00116 return *this; 00117 } 00118 00123 int getMaxDatagramSize() 00124 { 00125 M_string::iterator it = options_.find("max_datagram_size"); 00126 if (it == options_.end()) 00127 { 00128 return 0; 00129 } 00130 00131 return boost::lexical_cast<int>(it->second); 00132 } 00133 00137 TransportHints& unreliable() 00138 { 00139 udp(); 00140 00141 return *this; 00142 } 00143 00147 TransportHints& udp() 00148 { 00149 transports_.push_back("UDP"); 00150 return *this; 00151 } 00152 00156 const V_string& getTransports() { return transports_; } 00160 const M_string& getOptions() { return options_; } 00161 00162 private: 00163 V_string transports_; 00164 M_string options_; 00165 }; 00166 00167 } 00168 00169 #endif