transport.h
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00001 /*
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00034 
00035 #ifndef ROSCPP_TRANSPORT_H
00036 #define ROSCPP_TRANSPORT_H
00037 
00038 #include <ros/types.h>
00039 #include <boost/function.hpp>
00040 #include <boost/shared_ptr.hpp>
00041 #include <boost/enable_shared_from_this.hpp>
00042 #include <vector>
00043 
00044 namespace ros
00045 {
00046 
00047 class Transport;
00048 typedef boost::shared_ptr<Transport> TransportPtr;
00049 
00050 class Header;
00051 
00055 class Transport : public boost::enable_shared_from_this<Transport>
00056 {
00057 public:
00058   Transport();
00059   virtual ~Transport() {}
00060 
00067   virtual int32_t read(uint8_t* buffer, uint32_t size) = 0;
00074   virtual int32_t write(uint8_t* buffer, uint32_t size) = 0;
00075 
00079   virtual void enableWrite() = 0;
00083   virtual void disableWrite() = 0;
00084 
00088   virtual void enableRead() = 0;
00092   virtual void disableRead() = 0;
00093 
00097   virtual void close() = 0;
00098 
00103   virtual const char* getType() = 0;
00104 
00105   typedef boost::function<void(const TransportPtr&)> Callback;
00109   void setDisconnectCallback(const Callback& cb) { disconnect_cb_ = cb; }
00113   void setReadCallback(const Callback& cb) { read_cb_ = cb; }
00117   void setWriteCallback(const Callback& cb) { write_cb_ = cb; }
00118 
00122   virtual std::string getTransportInfo() = 0;
00123 
00127   virtual bool requiresHeader() {return true;}
00128 
00132   virtual void parseHeader(const Header& header) { (void)header; }
00133 
00134 protected:
00135   Callback disconnect_cb_;
00136   Callback read_cb_;
00137   Callback write_cb_;
00138 
00142   bool isHostAllowed(const std::string &host) const;
00143 
00147   bool isOnlyLocalhostAllowed() const { return only_localhost_allowed_; }
00148 
00149 private:
00150   bool only_localhost_allowed_;
00151   std::vector<std::string> allowed_hosts_;
00152 };
00153 
00154 }
00155 
00156 #endif // ROSCPP_TRANSPORT_H


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