transport_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_TRANSPORT_SUBSCRIBER_LINK_H 00029 #define ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H 00030 #include "common.h" 00031 #include "subscriber_link.h" 00032 00033 #include <boost/signals/connection.hpp> 00034 00035 namespace ros 00036 { 00037 00041 class ROSCPP_DECL TransportSubscriberLink : public SubscriberLink 00042 { 00043 public: 00044 TransportSubscriberLink(); 00045 virtual ~TransportSubscriberLink(); 00046 00047 // 00048 bool initialize(const ConnectionPtr& connection); 00049 bool handleHeader(const Header& header); 00050 00051 const ConnectionPtr& getConnection() { return connection_; } 00052 00053 virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy); 00054 virtual void drop(); 00055 virtual std::string getTransportType(); 00056 00057 private: 00058 void onConnectionDropped(const ConnectionPtr& conn); 00059 00060 void onHeaderWritten(const ConnectionPtr& conn); 00061 void onMessageWritten(const ConnectionPtr& conn); 00062 void startMessageWrite(bool immediate_write); 00063 00064 bool writing_message_; 00065 bool header_written_; 00066 00067 ConnectionPtr connection_; 00068 boost::signals::connection dropped_conn_; 00069 00070 std::queue<SerializedMessage> outbox_; 00071 boost::mutex outbox_mutex_; 00072 bool queue_full_; 00073 }; 00074 typedef boost::shared_ptr<TransportSubscriberLink> TransportSubscriberLinkPtr; 00075 00076 } // namespace ros 00077 00078 #endif // ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H