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

#include <transport.h>

Inheritance diagram for ros::Transport:

[legend]

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. More...

virtual void	disableRead ()=0
	Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets. More...

virtual void	disableWrite ()=0
	Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets. More...

virtual void	enableRead ()=0
	Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets. More...

virtual void	enableWrite ()=0
	Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets. More...

virtual std::string	getTransportInfo ()=0
	Returns a string description of both the type of transport and who the transport is connected to. More...

virtual const char *	getType ()=0
	Return a string that details the type of transport (Eg. TCPROS) More...

virtual void	parseHeader (const Header &header)
	Provides an opportunity for transport-specific options to come in through the header. More...

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. More...

virtual bool	requiresHeader ()
	Returns a boolean to indicate if the transport mechanism is reliable or not. More...

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. More...

void	setReadCallback (const Callback &cb)
	Set the function to call when there is data available to be read by this transport. More...

void	setWriteCallback (const Callback &cb)
	Set the function to call when there is space available to write on this transport. More...

	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. More...

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. More...

bool	isOnlyLocalhostAllowed () const
	returns true if this transport is only allowed to talk to localhost More...

Protected Attributes
Callback	disconnect_cb_

Callback	read_cb_

Callback	write_cb_

Private Attributes
std::vector< std::string >	allowed_hosts_

bool	only_localhost_allowed_

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.

Member Typedef Documentation

◆ Callback

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

Definition at line 105 of file transport.h.

Constructor & Destructor Documentation

◆ Transport()

ros::Transport::Transport ( )

Definition at line 56 of file transport.cpp.

◆ ~Transport()

virtual ros::Transport::~Transport ( )

inlinevirtual

Definition at line 59 of file transport.h.

Member Function Documentation

◆ close()

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.

◆ disableRead()

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.

◆ disableWrite()

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.

◆ enableRead()

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.

◆ enableWrite()

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.

◆ getTransportInfo()

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.

◆ getType()

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.

◆ isHostAllowed()

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 111 of file transport.cpp.

◆ isOnlyLocalhostAllowed()

bool ros::Transport::isOnlyLocalhostAllowed ( ) const

inlineprotected

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

Definition at line 147 of file transport.h.

◆ parseHeader()

virtual void ros::Transport::parseHeader ( const Header & header )

inlinevirtual

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.

◆ read()

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.

◆ requiresHeader()

virtual bool ros::Transport::requiresHeader ( )

inlinevirtual

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.

◆ setDisconnectCallback()

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.

◆ setReadCallback()

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.

◆ setWriteCallback()

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.

◆ write()

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.

Member Data Documentation

◆ allowed_hosts_

std::vector<std::string> ros::Transport::allowed_hosts_

private

Definition at line 151 of file transport.h.

◆ disconnect_cb_

Callback ros::Transport::disconnect_cb_

protected

Definition at line 135 of file transport.h.

◆ only_localhost_allowed_

bool ros::Transport::only_localhost_allowed_

private

Definition at line 150 of file transport.h.

◆ read_cb_

Callback ros::Transport::read_cb_

protected

Definition at line 136 of file transport.h.

◆ write_cb_

Callback ros::Transport::write_cb_

protected

Definition at line 137 of file transport.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Callback

Constructor & Destructor Documentation

◆ Transport()

◆ ~Transport()

Member Function Documentation

◆ close()

◆ disableRead()

◆ disableWrite()

◆ enableRead()

◆ enableWrite()

◆ getTransportInfo()

◆ getType()

◆ isHostAllowed()

◆ isOnlyLocalhostAllowed()

◆ parseHeader()

◆ read()

◆ requiresHeader()

◆ setDisconnectCallback()

◆ setReadCallback()

◆ setWriteCallback()

◆ write()

Member Data Documentation

◆ allowed_hosts_

◆ disconnect_cb_

◆ only_localhost_allowed_

◆ read_cb_

◆ write_cb_