master.h

Go to the documentation of this file.

/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef ROSCPP_MASTER_H
#define ROSCPP_MASTER_H

#include "forwards.h"
#include "XmlRpcValue.h"
#include "common.h"

namespace ros
{

namespace master
{

ROSCPP_DECL bool execute(const std::string& method, const XmlRpc::XmlRpcValue& request, XmlRpc::XmlRpcValue& response, XmlRpc::XmlRpcValue& payload, bool wait_for_master);

ROSCPP_DECL const std::string& getHost();
ROSCPP_DECL uint32_t getPort();
ROSCPP_DECL const std::string& getURI();

ROSCPP_DECL bool check();

struct ROSCPP_DECL TopicInfo
{
  TopicInfo() {}
  TopicInfo(const std::string& _name, const std::string& _datatype /*, const std::string& _md5sum*/)
  : name(_name)
  , datatype(_datatype)
  //, md5sum(_md5sum)
  {}
  std::string name;        
  std::string datatype;    

  // not possible yet unfortunately (master does not have this information)
  //std::string md5sum;      ///< md5sum of the topic
};
typedef std::vector<TopicInfo> V_TopicInfo;

ROSCPP_DECL bool getTopics(V_TopicInfo& topics);

ROSCPP_DECL bool getNodes(V_string& nodes);

ROSCPP_DECL void setRetryTimeout(ros::WallDuration timeout);

} // namespace master

} // namespace ros

#endif