publisher_link.cpp
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00001 /*
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00034 
00035 #include "ros/publisher_link.h"
00036 #include "ros/subscription.h"
00037 #include "ros/header.h"
00038 #include "ros/connection.h"
00039 #include "ros/transport/transport.h"
00040 #include "ros/this_node.h"
00041 #include "ros/connection_manager.h"
00042 #include "ros/file_log.h"
00043 
00044 #include <boost/bind.hpp>
00045 
00046 #include <sstream>
00047 
00048 namespace ros
00049 {
00050 
00051 PublisherLink::PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, 
00052                              const TransportHints& transport_hints)
00053 : parent_(parent)
00054 , connection_id_(0)
00055 , publisher_xmlrpc_uri_(xmlrpc_uri)
00056 , transport_hints_(transport_hints)
00057 , latched_(false)
00058 { }
00059 
00060 PublisherLink::~PublisherLink()
00061 { }
00062 
00063 bool PublisherLink::setHeader(const Header& header)
00064 {
00065   header.getValue("callerid", caller_id_);
00066 
00067   std::string md5sum, type, latched_str;
00068   if (!header.getValue("md5sum", md5sum))
00069   {
00070     ROS_ERROR("Publisher header did not have required element: md5sum");
00071     return false;
00072   }
00073 
00074   md5sum_ = md5sum;
00075 
00076   if (!header.getValue("type", type))
00077   {
00078     ROS_ERROR("Publisher header did not have required element: type");
00079     return false;
00080   }
00081 
00082   latched_ = false;
00083   if (header.getValue("latching", latched_str))
00084   {
00085     if (latched_str == "1")
00086     {
00087       latched_ = true;
00088     }
00089   }
00090 
00091   connection_id_ = ConnectionManager::instance()->getNewConnectionID();
00092   header_ = header;
00093 
00094   if (SubscriptionPtr parent = parent_.lock())
00095   {
00096     parent->headerReceived(shared_from_this(), header);
00097   }
00098 
00099   return true;
00100 }
00101 
00102 const std::string& PublisherLink::getPublisherXMLRPCURI()
00103 {
00104   return publisher_xmlrpc_uri_;
00105 }
00106 
00107 const std::string& PublisherLink::getMD5Sum()
00108 {
00109   ROS_ASSERT(!md5sum_.empty());
00110   return md5sum_;
00111 }
00112 
00113 } // namespace ros
00114 


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