transport_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_TRANSPORT_PUBLISHER_LINK_H
00029 #define ROSCPP_TRANSPORT_PUBLISHER_LINK_H
00030 
00031 #include "common.h"
00032 #include "publisher_link.h"
00033 #include "connection.h"
00034 
00035 namespace ros
00036 {
00037 class Header;
00038 class Message;
00039 class Subscription;
00040 typedef boost::shared_ptr<Subscription> SubscriptionPtr;
00041 typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
00042 class Connection;
00043 typedef boost::shared_ptr<Connection> ConnectionPtr;
00044 
00045 class WallTimerEvent;
00046 
00051 class ROSCPP_DECL TransportPublisherLink : public PublisherLink
00052 {
00053 public:
00054   TransportPublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints);
00055   virtual ~TransportPublisherLink();
00056 
00057   //
00058   bool initialize(const ConnectionPtr& connection);
00059 
00060   const ConnectionPtr& getConnection() { return connection_; }
00061 
00062   virtual std::string getTransportType();
00063   virtual std::string getTransportInfo();
00064   virtual void drop();
00065 
00066 private:
00067   void onConnectionDropped(const ConnectionPtr& conn, Connection::DropReason reason);
00068   bool onHeaderReceived(const ConnectionPtr& conn, const Header& header);
00069 
00073   virtual void handleMessage(const SerializedMessage& m, bool ser, bool nocopy);
00074 
00075   void onHeaderWritten(const ConnectionPtr& conn);
00076   void onMessageLength(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
00077   void onMessage(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
00078 
00079   void onRetryTimer(const ros::WallTimerEvent&);
00080 
00081   ConnectionPtr connection_;
00082 
00083   int32_t retry_timer_handle_;
00084   bool needs_retry_;
00085   WallDuration retry_period_;
00086   WallTime next_retry_;
00087   bool dropping_;
00088 };
00089 typedef boost::shared_ptr<TransportPublisherLink> TransportPublisherLinkPtr;
00090 
00091 } // namespace ros
00092 
00093 #endif // ROSCPP_TRANSPORT_PUBLISHER_LINK_H
00094 
00095 
00096 


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