ros::Transport Class Reference

Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory, UDP... More...

#include <transport.h>

Inheritance diagram for ros::Transport:

List of all members.

Public Types
typedef boost::function< void(const TransportPtr &)>	Callback
Public Member Functions
virtual void	close ()=0
	Close this transport. Once this call has returned, writing on this transport should always return an error.
virtual void	disableRead ()=0
	Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.
virtual void	disableWrite ()=0
	Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.
virtual void	enableRead ()=0
	Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.
virtual void	enableWrite ()=0
	Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.
virtual std::string	getTransportInfo ()=0
	Returns a string description of both the type of transport and who the transport is connected to.
virtual const char *	getType ()=0
	Return a string that details the type of transport (Eg. TCPROS)
virtual void	parseHeader (const Header &header)
	Provides an opportunity for transport-specific options to come in through the header.
virtual int32_t	read (uint8_t *buffer, uint32_t size)=0
	Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes.
virtual bool	requiresHeader ()
	Returns a boolean to indicate if the transport mechanism is reliable or not.
void	setDisconnectCallback (const Callback &cb)
	Set the function to call when this transport has disconnected, either through a call to close(). Or a disconnect from the remote host.
void	setReadCallback (const Callback &cb)
	Set the function to call when there is data available to be read by this transport.
void	setWriteCallback (const Callback &cb)
	Set the function to call when there is space available to write on this transport.
	Transport ()
virtual int32_t	write (uint8_t *buffer, uint32_t size)=0
	Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes.
virtual	~Transport ()
Protected Member Functions
bool	isHostAllowed (const std::string &host) const
	returns true if the transport is allowed to connect to the host passed to it.
bool	isOnlyLocalhostAllowed () const
	returns true if this transport is only allowed to talk to localhost
Protected Attributes
Callback	disconnect_cb_
Callback	read_cb_
Callback	write_cb_
Private Attributes
std::vector< std::string >	allowed_hosts_
bool	only_localhost_allowed_

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Detailed Description

Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory, UDP...

Definition at line 55 of file transport.h.

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Member Typedef Documentation

typedef boost::function<void(const TransportPtr&)> ros::Transport::Callback

Definition at line 105 of file transport.h.

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Constructor & Destructor Documentation

ros::Transport::Transport

(

)

Definition at line 52 of file transport.cpp.

virtual ros::Transport::~Transport

(

)

[inline, virtual]

Definition at line 59 of file transport.h.

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Member Function Documentation

virtual void ros::Transport::close

(

)

[pure virtual]

Close this transport. Once this call has returned, writing on this transport should always return an error.

Implemented in ros::TransportTCP, and ros::TransportUDP.

virtual void ros::Transport::disableRead

(

)

[pure virtual]

Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.

Implemented in ros::TransportTCP, and ros::TransportUDP.

virtual void ros::Transport::disableWrite

(

)

[pure virtual]

Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.

Implemented in ros::TransportTCP, and ros::TransportUDP.

virtual void ros::Transport::enableRead

(

)

[pure virtual]

Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.

Implemented in ros::TransportTCP, and ros::TransportUDP.

virtual void ros::Transport::enableWrite

(

)

[pure virtual]

Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.

Implemented in ros::TransportTCP, and ros::TransportUDP.

virtual std::string ros::Transport::getTransportInfo

(

)

[pure virtual]

Returns a string description of both the type of transport and who the transport is connected to.

Implemented in ros::TransportTCP, and ros::TransportUDP.

virtual const char* ros::Transport::getType

(

)

[pure virtual]

Return a string that details the type of transport (Eg. TCPROS)

Returns:

The stringified transport type

Implemented in ros::TransportTCP, and ros::TransportUDP.

bool ros::Transport::isHostAllowed

(

const std::string &

host

)

const [protected]

returns true if the transport is allowed to connect to the host passed to it.

Definition at line 107 of file transport.cpp.

bool ros::Transport::isOnlyLocalhostAllowed

(

)

const [inline, protected]

returns true if this transport is only allowed to talk to localhost

Definition at line 147 of file transport.h.

virtual void ros::Transport::parseHeader

(

const Header &

header

)

[inline, virtual]

Provides an opportunity for transport-specific options to come in through the header.

Reimplemented in ros::TransportTCP.

Definition at line 132 of file transport.h.

virtual int32_t ros::Transport::read	(	uint8_t *	buffer,
		uint32_t	size
	)		[pure virtual]

Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes.

Parameters:

buffer	Buffer to read from
size	Size, in bytes, to read

Returns:

The number of bytes actually read, or -1 if there was an error

Implemented in ros::TransportTCP, and ros::TransportUDP.

virtual bool ros::Transport::requiresHeader

(

)

[inline, virtual]

Returns a boolean to indicate if the transport mechanism is reliable or not.

Reimplemented in ros::TransportUDP.

Definition at line 127 of file transport.h.

void ros::Transport::setDisconnectCallback

(

const Callback &

cb

)

[inline]

Set the function to call when this transport has disconnected, either through a call to close(). Or a disconnect from the remote host.

Definition at line 109 of file transport.h.

void ros::Transport::setReadCallback

(

const Callback &

cb

)

[inline]

Set the function to call when there is data available to be read by this transport.

Definition at line 113 of file transport.h.

void ros::Transport::setWriteCallback

(

const Callback &

cb

)

[inline]

Set the function to call when there is space available to write on this transport.

Definition at line 117 of file transport.h.

virtual int32_t ros::Transport::write	(	uint8_t *	buffer,
		uint32_t	size
	)		[pure virtual]

Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes.

Parameters:

buffer	Buffer to write from
size	Size, in bytes, to write

Returns:

The number of bytes actually written, or -1 if there was an error

Implemented in ros::TransportTCP, and ros::TransportUDP.

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Member Data Documentation

std::vector<std::string> ros::Transport::allowed_hosts_ [private]

Definition at line 151 of file transport.h.

Callback ros::Transport::disconnect_cb_ [protected]

Definition at line 135 of file transport.h.

bool ros::Transport::only_localhost_allowed_ [private]

Definition at line 150 of file transport.h.

Callback ros::Transport::read_cb_ [protected]

Definition at line 136 of file transport.h.

Callback ros::Transport::write_cb_ [protected]

Definition at line 137 of file transport.h.

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The documentation for this class was generated from the following files:

• transport.h
• transport.cpp