transport.h
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00001 /*
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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


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Mon Oct 6 2014 11:46:44