transport.h
Go to the documentation of this file.
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


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Fri Aug 28 2015 12:33:11