publisher_link.cpp
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34 
35 #include "ros/publisher_link.h"
36 #include "ros/subscription.h"
37 #include "ros/header.h"
38 #include "ros/connection.h"
40 #include "ros/this_node.h"
41 #include "ros/connection_manager.h"
42 #include "ros/file_log.h"
43 
44 #include <boost/bind.hpp>
45 
46 #include <sstream>
47 
48 namespace ros
49 {
50 
51 PublisherLink::PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri,
52  const TransportHints& transport_hints)
53 : parent_(parent)
54 , connection_id_(0)
55 , publisher_xmlrpc_uri_(xmlrpc_uri)
56 , transport_hints_(transport_hints)
57 , latched_(false)
58 { }
59 
61 { }
62 
63 bool PublisherLink::setHeader(const Header& header)
64 {
65  header.getValue("callerid", caller_id_);
66 
67  std::string md5sum, type, latched_str;
68  if (!header.getValue("md5sum", md5sum))
69  {
70  ROS_ERROR("Publisher header did not have required element: md5sum");
71  return false;
72  }
73 
74  md5sum_ = md5sum;
75 
76  if (!header.getValue("type", type))
77  {
78  ROS_ERROR("Publisher header did not have required element: type");
79  return false;
80  }
81 
82  latched_ = false;
83  if (header.getValue("latching", latched_str))
84  {
85  if (latched_str == "1")
86  {
87  latched_ = true;
88  }
89  }
90 
91  connection_id_ = ConnectionManager::instance()->getNewConnectionID();
92  header_ = header;
93 
94  if (SubscriptionPtr parent = parent_.lock())
95  {
96  parent->headerReceived(shared_from_this(), header);
97  }
98 
99  return true;
100 }
101 
103 {
104  return publisher_xmlrpc_uri_;
105 }
106 
107 const std::string& PublisherLink::getMD5Sum()
108 {
109  ROS_ASSERT(!md5sum_.empty());
110  return md5sum_;
111 }
112 
113 } // namespace ros
114 
Provides a way of specifying network transport hints to ros::NodeHandle::subscribe() and someday ros:...
static const ConnectionManagerPtr & instance()
bool getValue(const std::string &key, std::string &value) const
const char * md5sum()
#define ROS_ASSERT(cond)
#define ROS_ERROR(...)


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Fri Jun 8 2018 02:54:34