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_TRANSPORT_H 00036 #define ROSCPP_TRANSPORT_H 00037 00038 #include <ros/types.h> 00039 #include <boost/function.hpp> 00040 #include <boost/shared_ptr.hpp> 00041 #include <boost/enable_shared_from_this.hpp> 00042 00043 namespace ros 00044 { 00045 00046 class Transport; 00047 typedef boost::shared_ptr<Transport> TransportPtr; 00048 00049 class Header; 00050 00054 class Transport : public boost::enable_shared_from_this<Transport> 00055 { 00056 public: 00057 Transport() {} 00058 virtual ~Transport() {} 00059 00066 virtual int32_t read(uint8_t* buffer, uint32_t size) = 0; 00073 virtual int32_t write(uint8_t* buffer, uint32_t size) = 0; 00074 00078 virtual void enableWrite() = 0; 00082 virtual void disableWrite() = 0; 00083 00087 virtual void enableRead() = 0; 00091 virtual void disableRead() = 0; 00092 00096 virtual void close() = 0; 00097 00102 virtual const char* getType() = 0; 00103 00104 typedef boost::function<void(const TransportPtr&)> Callback; 00108 void setDisconnectCallback(const Callback& cb) { disconnect_cb_ = cb; } 00112 void setReadCallback(const Callback& cb) { read_cb_ = cb; } 00116 void setWriteCallback(const Callback& cb) { write_cb_ = cb; } 00117 00121 virtual std::string getTransportInfo() = 0; 00122 00126 virtual bool requiresHeader() {return true;} 00127 00131 virtual void parseHeader(const Header& header) { } 00132 00133 protected: 00134 Callback disconnect_cb_; 00135 Callback read_cb_; 00136 Callback write_cb_; 00137 }; 00138 00139 } 00140 00141 #endif // ROSCPP_TRANSPORT_H