transport.h

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#ifndef ROSCPP_TRANSPORT_H
#define ROSCPP_TRANSPORT_H

#include <ros/types.h>
#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>

namespace ros
{

class Transport;
typedef boost::shared_ptr<Transport> TransportPtr;

class Header;

class Transport : public boost::enable_shared_from_this<Transport>
{
public:
  Transport() {}
  virtual ~Transport() {}

  virtual int32_t read(uint8_t* buffer, uint32_t size) = 0;
  virtual int32_t write(uint8_t* buffer, uint32_t size) = 0;

  virtual void enableWrite() = 0;
  virtual void disableWrite() = 0;

  virtual void enableRead() = 0;
  virtual void disableRead() = 0;

  virtual void close() = 0;

  virtual const char* getType() = 0;

  typedef boost::function<void(const TransportPtr&)> Callback;
  void setDisconnectCallback(const Callback& cb) { disconnect_cb_ = cb; }
  void setReadCallback(const Callback& cb) { read_cb_ = cb; }
  void setWriteCallback(const Callback& cb) { write_cb_ = cb; }

  virtual std::string getTransportInfo() = 0;

  virtual bool requiresHeader() {return true;}

  virtual void parseHeader(const Header& header) { }

protected:
  Callback disconnect_cb_;
  Callback read_cb_;
  Callback write_cb_;
};

}

#endif // ROSCPP_TRANSPORT_H