subscriber_link.h
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1 /*
2  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
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27 
28 #ifndef ROSCPP_SUBSCRIBER_LINK_H
29 #define ROSCPP_SUBSCRIBER_LINK_H
30 
31 #include "ros/common.h"
32 
33 #include <boost/thread/mutex.hpp>
34 #include <boost/shared_array.hpp>
35 #include <boost/weak_ptr.hpp>
36 #include <boost/enable_shared_from_this.hpp>
37 
38 #include <queue>
39 
40 namespace ros
41 {
42 class Header;
43 class Message;
44 class Publication;
46 typedef boost::weak_ptr<Publication> PublicationWPtr;
47 class Connection;
49 
50 class ROSCPP_DECL SubscriberLink : public boost::enable_shared_from_this<SubscriberLink>
51 {
52 public:
53  class Stats
54  {
55  public:
56  uint64_t bytes_sent_, message_data_sent_, messages_sent_;
58  : bytes_sent_(0), message_data_sent_(0), messages_sent_(0) { }
59  };
60 
62  virtual ~SubscriberLink();
63 
64  const std::string& getTopic() const { return topic_; }
65  const Stats &getStats() { return stats_; }
66  const std::string &getDestinationCallerID() const { return destination_caller_id_; }
67  int getConnectionID() const { return connection_id_; }
68 
72  virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy) = 0;
73 
74  virtual void drop() = 0;
75 
76  virtual std::string getTransportType() = 0;
77  virtual std::string getTransportInfo() = 0;
78 
79  virtual bool isIntraprocess() { return false; }
80  virtual void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti) { (void)ti; ser = true; nocopy = false; }
81 
82  const std::string& getMD5Sum();
83  const std::string& getDataType();
84  const std::string& getMessageDefinition();
85 
86 protected:
87  bool verifyDatatype(const std::string &datatype);
88 
89  PublicationWPtr parent_;
90  unsigned int connection_id_;
93  std::string topic_;
94 };
95 
96 } // namespace ros
97 
98 #endif // ROSCPP_SUBSCRIBER_LINK_H
99 
100 
boost::shared_ptr< Connection > ConnectionPtr
Definition: connection.h:57
const char * datatype()
boost::shared_ptr< Publication > PublicationPtr
Definition: forwards.h:66
boost::weak_ptr< Publication > PublicationWPtr


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