intraprocess_publisher_link.cpp
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00001 /*
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00034 
00035 #include "ros/intraprocess_publisher_link.h"
00036 #include "ros/intraprocess_subscriber_link.h"
00037 #include "ros/subscription.h"
00038 #include "ros/header.h"
00039 #include "ros/connection.h"
00040 #include "ros/transport/transport.h"
00041 #include "ros/this_node.h"
00042 #include "ros/connection_manager.h"
00043 #include "ros/file_log.h"
00044 
00045 #include <boost/bind.hpp>
00046 
00047 #include <sstream>
00048 
00049 namespace ros
00050 {
00051 
00052 IntraProcessPublisherLink::IntraProcessPublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints)
00053 : PublisherLink(parent, xmlrpc_uri, transport_hints)
00054 , dropped_(false)
00055 {
00056 }
00057 
00058 IntraProcessPublisherLink::~IntraProcessPublisherLink()
00059 {
00060 }
00061 
00062 void IntraProcessPublisherLink::setPublisher(const IntraProcessSubscriberLinkPtr& publisher)
00063 {
00064   publisher_ = publisher;
00065 
00066   SubscriptionPtr parent = parent_.lock();
00067   ROS_ASSERT(parent);
00068 
00069   Header header;
00070   M_stringPtr values = header.getValues();
00071   (*values)["callerid"] = this_node::getName();
00072   (*values)["topic"] = parent->getName();
00073   (*values)["type"] = publisher->getDataType();
00074   (*values)["md5sum"] = publisher->getMD5Sum();
00075   (*values)["message_definition"] = publisher->getMessageDefinition();
00076   (*values)["latching"] = publisher->isLatching() ? "1" : "0";
00077   setHeader(header);
00078 }
00079 
00080 void IntraProcessPublisherLink::drop()
00081 {
00082   {
00083     boost::recursive_mutex::scoped_lock lock(drop_mutex_);
00084     if (dropped_)
00085     {
00086       return;
00087     }
00088 
00089     dropped_ = true;
00090   }
00091 
00092   if (publisher_)
00093   {
00094     publisher_->drop();
00095     publisher_.reset();
00096   }
00097 
00098   if (SubscriptionPtr parent = parent_.lock())
00099   {
00100     ROSCPP_LOG_DEBUG("Connection to local publisher on topic [%s] dropped", parent->getName().c_str());
00101 
00102     parent->removePublisherLink(shared_from_this());
00103   }
00104 }
00105 
00106 void IntraProcessPublisherLink::handleMessage(const SerializedMessage& m, bool ser, bool nocopy)
00107 {
00108   boost::recursive_mutex::scoped_lock lock(drop_mutex_);
00109   if (dropped_)
00110   {
00111     return;
00112   }
00113 
00114   stats_.bytes_received_ += m.num_bytes;
00115   stats_.messages_received_++;
00116 
00117   SubscriptionPtr parent = parent_.lock();
00118 
00119   if (parent)
00120   {
00121     stats_.drops_ += parent->handleMessage(m, ser, nocopy, header_.getValues(), shared_from_this());
00122   }
00123 }
00124 
00125 std::string IntraProcessPublisherLink::getTransportType()
00126 {
00127   return std::string("INTRAPROCESS");
00128 }
00129 
00130 std::string IntraProcessPublisherLink::getTransportInfo()
00131 {
00132   // TODO: Check if we can dump more useful information here
00133   return getTransportType();
00134 }
00135 
00136 void IntraProcessPublisherLink::getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti)
00137 {
00138   boost::recursive_mutex::scoped_lock lock(drop_mutex_);
00139   if (dropped_)
00140   {
00141     ser = false;
00142     nocopy = false;
00143     return;
00144   }
00145 
00146   SubscriptionPtr parent = parent_.lock();
00147   if (parent)
00148   {
00149     parent->getPublishTypes(ser, nocopy, ti);
00150   }
00151   else
00152   {
00153     ser = true;
00154     nocopy = false;
00155   }
00156 }
00157 
00158 } // namespace ros
00159 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03