service_client_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_SERVICE_CLIENT_LINK_H
00029 #define ROSCPP_SERVICE_CLIENT_LINK_H
00030 
00031 #include "ros/common.h"
00032 
00033 #include <boost/thread/mutex.hpp>
00034 #include <boost/shared_array.hpp>
00035 #include <boost/enable_shared_from_this.hpp>
00036 #include <boost/signals2/connection.hpp>
00037 
00038 #include <queue>
00039 
00040 namespace ros
00041 {
00042 class Header;
00043 class ServicePublication;
00044 typedef boost::weak_ptr<ServicePublication> ServicePublicationWPtr;
00045 typedef boost::shared_ptr<ServicePublication> ServicePublicationPtr;
00046 class Connection;
00047 typedef boost::shared_ptr<Connection> ConnectionPtr;
00048 
00052 class ROSCPP_DECL ServiceClientLink : public boost::enable_shared_from_this<ServiceClientLink>
00053 {
00054 public:
00055   ServiceClientLink();
00056   virtual ~ServiceClientLink();
00057 
00058   //
00059   bool initialize(const ConnectionPtr& connection);
00060   bool handleHeader(const Header& header);
00061 
00067   void processResponse(bool ok, const SerializedMessage& res);
00068 
00069   const ConnectionPtr& getConnection() { return connection_; }
00070 
00071 private:
00072   void onConnectionDropped(const ConnectionPtr& conn);
00073 
00074   void onHeaderWritten(const ConnectionPtr& conn);
00075   void onRequestLength(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
00076   void onRequest(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
00077   void onResponseWritten(const ConnectionPtr& conn);
00078 
00079   ConnectionPtr connection_;
00080   ServicePublicationWPtr parent_;
00081   bool persistent_;
00082   boost::signals2::connection dropped_conn_;
00083 };
00084 typedef boost::shared_ptr<ServiceClientLink> ServiceClientLinkPtr;
00085 
00086 } // namespace ros
00087 
00088 #endif // ROSCPP_PUBLISHER_DATA_HANDLER_H
00089 
00090 
00091 


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