publisher_link.h
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00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_PUBLISHER_LINK_H
00029 #define ROSCPP_PUBLISHER_LINK_H
00030 
00031 #include "ros/common.h"
00032 #include "ros/transport_hints.h"
00033 #include "ros/header.h"
00034 #include "common.h"
00035 #include <boost/thread/mutex.hpp>
00036 #include <boost/shared_array.hpp>
00037 #include <boost/weak_ptr.hpp>
00038 #include <boost/enable_shared_from_this.hpp>
00039 
00040 #include <queue>
00041 
00042 namespace ros
00043 {
00044 class Header;
00045 class Message;
00046 class Subscription;
00047 typedef boost::shared_ptr<Subscription> SubscriptionPtr;
00048 typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
00049 class Connection;
00050 typedef boost::shared_ptr<Connection> ConnectionPtr;
00051 
00056 class ROSCPP_DECL PublisherLink : public boost::enable_shared_from_this<PublisherLink>
00057 {
00058 public:
00059   class Stats
00060   {
00061   public:
00062     uint64_t bytes_received_, messages_received_, drops_;
00063     Stats()
00064     : bytes_received_(0), messages_received_(0), drops_(0) { }
00065   };
00066 
00067 
00068   PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints);
00069   virtual ~PublisherLink();
00070 
00071   const Stats &getStats() { return stats_; }
00072   const std::string& getPublisherXMLRPCURI();
00073   int getConnectionID() const { return connection_id_; }
00074   const std::string& getCallerID() { return caller_id_; }
00075   bool isLatched() { return latched_; }
00076 
00077   bool setHeader(const Header& header);
00078 
00082   virtual void handleMessage(const SerializedMessage& m, bool ser, bool nocopy) = 0;
00083   virtual std::string getTransportType() = 0;
00084   virtual std::string getTransportInfo() = 0;
00085   virtual void drop() = 0;
00086 
00087   const std::string& getMD5Sum();
00088 
00089 protected:
00090   SubscriptionWPtr parent_;
00091   unsigned int connection_id_;
00092   std::string publisher_xmlrpc_uri_;
00093 
00094   Stats stats_;
00095 
00096   TransportHints transport_hints_;
00097 
00098   bool latched_;
00099   std::string caller_id_;
00100   Header header_;
00101   std::string md5sum_;
00102 };
00103 
00104 } // namespace ros
00105 
00106 #endif // ROSCPP_PUBLISHER_LINK_H
00107 
00108 
00109 


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