publisher_link.cpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  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 name of 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.
 */
 
#include "ros/publisher_link.h"
#include "ros/subscription.h"
#include "ros/header.h"
#include "ros/connection.h"
#include "ros/transport/transport.h"
#include "ros/this_node.h"
#include "ros/connection_manager.h"
#include "ros/file_log.h"
 
#include <boost/bind/bind.hpp>
 
#include <sstream>
 
namespace ros
{
 
PublisherLink::PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, 
                             const TransportHints& transport_hints)
: parent_(parent)
, connection_id_(0)
, publisher_xmlrpc_uri_(xmlrpc_uri)
, transport_hints_(transport_hints)
, latched_(false)
{ }
 
PublisherLink::~PublisherLink()
{ }
 
bool PublisherLink::setHeader(const Header& header)
{
  header.getValue("callerid", caller_id_);
 
  std::string md5sum, type, latched_str;
  if (!header.getValue("md5sum", md5sum))
  {
    ROS_ERROR("Publisher header did not have required element: md5sum");
    return false;
  }
 
  md5sum_ = md5sum;
 
  if (!header.getValue("type", type))
  {
    ROS_ERROR("Publisher header did not have required element: type");
    return false;
  }
 
  latched_ = false;
  if (header.getValue("latching", latched_str))
  {
    if (latched_str == "1")
    {
      latched_ = true;
    }
  }
 
  connection_id_ = ConnectionManager::instance()->getNewConnectionID();
  header_ = header;
 
  if (SubscriptionPtr parent = parent_.lock())
  {
    parent->headerReceived(shared_from_this(), header);
  }
 
  return true;
}
 
const std::string& PublisherLink::getPublisherXMLRPCURI()
{
  return publisher_xmlrpc_uri_;
}
 
const std::string& PublisherLink::getMD5Sum()
{
  ROS_ASSERT(!md5sum_.empty());
  return md5sum_;
}
 
} // namespace ros