subscriber_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_SUBSCRIBER_LINK_H
00029 #define ROSCPP_SUBSCRIBER_LINK_H
00030 
00031 #include "ros/common.h"
00032 
00033 #include <boost/thread/mutex.hpp>
00034 #include <boost/shared_array.hpp>
00035 #include <boost/weak_ptr.hpp>
00036 #include <boost/enable_shared_from_this.hpp>
00037 
00038 #include <queue>
00039 
00040 namespace ros
00041 {
00042 class Header;
00043 class Message;
00044 class Publication;
00045 typedef boost::shared_ptr<Publication> PublicationPtr;
00046 typedef boost::weak_ptr<Publication> PublicationWPtr;
00047 class Connection;
00048 typedef boost::shared_ptr<Connection> ConnectionPtr;
00049 
00050 class ROSCPP_DECL SubscriberLink : public boost::enable_shared_from_this<SubscriberLink>
00051 {
00052 public:
00053   class Stats
00054   {
00055   public:
00056     uint64_t bytes_sent_, message_data_sent_, messages_sent_;
00057     Stats()
00058     : bytes_sent_(0), message_data_sent_(0), messages_sent_(0) { }
00059   };
00060 
00061   SubscriberLink();
00062   virtual ~SubscriberLink();
00063 
00064   const std::string& getTopic() const { return topic_; }
00065   const Stats &getStats() { return stats_; }
00066   const std::string &getDestinationCallerID() const { return destination_caller_id_; }
00067   int getConnectionID() const { return connection_id_; }
00068 
00072   virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy) = 0;
00073 
00074   virtual void drop() = 0;
00075 
00076   virtual std::string getTransportType() = 0;
00077   virtual std::string getTransportInfo() = 0;
00078 
00079   virtual bool isIntraprocess() { return false; }
00080   virtual void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti) { (void)ti; ser = true; nocopy = false; }
00081 
00082   const std::string& getMD5Sum();
00083   const std::string& getDataType();
00084   const std::string& getMessageDefinition();
00085 
00086 protected:
00087   bool verifyDatatype(const std::string &datatype);
00088 
00089   PublicationWPtr parent_;
00090   unsigned int connection_id_;
00091   std::string destination_caller_id_;
00092   Stats stats_;
00093   std::string topic_;
00094 };
00095 
00096 } // namespace ros
00097 
00098 #endif // ROSCPP_SUBSCRIBER_LINK_H
00099 
00100 


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