roscpp: intraprocess_subscriber

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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
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00026  */
00027 
00028 #ifndef ROSCPP_INTRAPROCESS_SUBSCRIBER_LINK_H
00029 #define ROSCPP_INTRAPROCESS_SUBSCRIBER_LINK_H
00030 #include "subscriber_link.h"
00031 #include "common.h"
00032 
00033 #include <boost/thread/recursive_mutex.hpp>
00034 
00035 namespace ros
00036 {
00037 
00038 class IntraProcessPublisherLink;
00039 typedef boost::shared_ptr<IntraProcessPublisherLink> IntraProcessPublisherLinkPtr;
00040 
00044 class ROSCPP_DECL IntraProcessSubscriberLink : public SubscriberLink
00045 {
00046 public:
00047   IntraProcessSubscriberLink(const PublicationPtr& parent);
00048   virtual ~IntraProcessSubscriberLink();
00049 
00050   void setSubscriber(const IntraProcessPublisherLinkPtr& subscriber);
00051   bool isLatching();
00052 
00053   virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy);
00054   virtual void drop();
00055   virtual std::string getTransportType();
00056   virtual bool isIntraprocess() { return true; }
00057   virtual void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti);
00058 
00059 private:
00060   IntraProcessPublisherLinkPtr subscriber_;
00061   bool dropped_;
00062   boost::recursive_mutex drop_mutex_;
00063 };
00064 typedef boost::shared_ptr<IntraProcessSubscriberLink> IntraProcessSubscriberLinkPtr;
00065 
00066 } // namespace ros
00067 
00068 #endif // ROSCPP_INTRAPROCESS_SUBSCRIBER_LINK_H