sharedmem_transport: sharedmem_transport: sharedmem

00001 
00002 
00003 #include <boost/interprocess/managed_shared_memory.hpp>
00004 #include <cstdlib> 
00005 #include <cstddef>
00006 #include <cassert>
00007 #include <utility>
00008 
00009 #include <ros/ros.h>
00010 
00011 #include "sharedmem_transport/SharedMemoryBlock.h"
00012 #include "sharedmem_transport/sharedmem_publisher.h"
00013 
00014 using namespace boost::interprocess;
00015 
00016 
00017 namespace sharedmem_transport {
00018 
00019         SharedmemPublisherImpl::SharedmemPublisherImpl()
00020         {
00021                 segment_ = NULL;
00022                 clientRegistered = false;
00023         }
00024 
00025         SharedmemPublisherImpl::~SharedmemPublisherImpl()
00026         {
00027         // This just disconnect from the segment, any subscriber can still
00028         // finish reading it.
00029         if (segment_) {
00030             delete segment_;
00031         }
00032         }
00033 
00034         uint32_t SharedmemPublisherImpl::initialise(const std::string & topic) {
00035                 if (!clientRegistered) {
00036                         clientRegistered = true;
00037             ROS_INFO("Waiting for service '/sharedmem_manager/get_blocks' to be ready");
00038             ros::service::waitForService("/sharedmem_manager/get_blocks");
00039             ROS_INFO("Connecting to shared memory segment");
00040 
00041                 std::string segment_name = ROSSharedMemoryDefaultBlock;
00042                 nh_.param<std::string>("/sharedmem_manager/segment_name",segment_name,ROSSharedMemoryDefaultBlock);
00043                 ROS_INFO("Got segment name: %s", segment_name.c_str());
00044                 try {
00045                     segment_ = new managed_shared_memory(open_only,segment_name.c_str());
00046                     ROS_INFO("Got segment %p",segment_);
00047                 } catch (boost::interprocess::bad_alloc e) {
00048                     segment_ = NULL;
00049                     ROS_ERROR("Could not open shared memory segment");
00050                     return -1;
00051                 }
00052                 blockmgr_ = (segment_->find<SharedMemoryBlock>("Manager")).first;
00053                 if (!blockmgr_) {
00054                     delete segment_;
00055                     segment_ = NULL;
00056                     ROS_ERROR("Cannot find Manager block in shared memory segment");
00057                     return -1;
00058                 }
00059                 ROS_INFO("Got manager %p",blockmgr_);
00060                 try {
00061                     shm_handle_ = blockmgr_->allocateBlock(*segment_,topic.c_str(),16);
00062                     ROS_INFO("Got shm handle");
00063                 } catch (boost::interprocess::bad_alloc e) {
00064                     delete segment_;
00065                     segment_ = NULL;
00066                     ROS_ERROR("Could not open shared memory segment");
00067                     return -1;
00068                 }
00069                 }
00070         return shm_handle_.handle;
00071         }
00072 
00073 } //namespace sharedmem_transport
sharedmem_publisher.cpp
