transport_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_TRANSPORT_SUBSCRIBER_LINK_H
00029 #define ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H
00030 #include "common.h"
00031 #include "subscriber_link.h"
00032 
00033 #include <boost/signals2/connection.hpp>
00034 
00035 namespace ros
00036 {
00037 
00041 class ROSCPP_DECL TransportSubscriberLink : public SubscriberLink
00042 {
00043 public:
00044   TransportSubscriberLink();
00045   virtual ~TransportSubscriberLink();
00046 
00047   //
00048   bool initialize(const ConnectionPtr& connection);
00049   bool handleHeader(const Header& header);
00050 
00051   const ConnectionPtr& getConnection() { return connection_; }
00052 
00053   virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy);
00054   virtual void drop();
00055   virtual std::string getTransportType();
00056   virtual std::string getTransportInfo();
00057 
00058 private:
00059   void onConnectionDropped(const ConnectionPtr& conn);
00060 
00061   void onHeaderWritten(const ConnectionPtr& conn);
00062   void onMessageWritten(const ConnectionPtr& conn);
00063   void startMessageWrite(bool immediate_write);
00064 
00065   bool writing_message_;
00066   bool header_written_;
00067 
00068   ConnectionPtr connection_;
00069   boost::signals2::connection dropped_conn_;
00070 
00071   std::queue<SerializedMessage> outbox_;
00072   boost::mutex outbox_mutex_;
00073   bool queue_full_;
00074 };
00075 typedef boost::shared_ptr<TransportSubscriberLink> TransportSubscriberLinkPtr;
00076 
00077 } // namespace ros
00078 
00079 #endif // ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H


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