publisher_link.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00035 #include "ros/publisher_link.h"
00036 #include "ros/subscription.h"
00037 #include "ros/header.h"
00038 #include "ros/connection.h"
00039 #include "ros/transport/transport.h"
00040 #include "ros/this_node.h"
00041 #include "ros/connection_manager.h"
00042 #include "ros/file_log.h"
00043 
00044 #include <boost/bind.hpp>
00045 
00046 #include <sstream>
00047 
00048 namespace ros
00049 {
00050 
00051 PublisherLink::PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, 
00052                              const TransportHints& transport_hints)
00053 : parent_(parent)
00054 , publisher_xmlrpc_uri_(xmlrpc_uri)
00055 , transport_hints_(transport_hints)
00056 , latched_(false)
00057 { }
00058 
00059 PublisherLink::~PublisherLink()
00060 { }
00061 
00062 bool PublisherLink::setHeader(const Header& header)
00063 {
00064   header.getValue("callerid", caller_id_);
00065 
00066   std::string md5sum, type, latched_str;
00067   if (!header.getValue("md5sum", md5sum))
00068   {
00069     ROS_ERROR("Publisher header did not have required element: md5sum");
00070     return false;
00071   }
00072 
00073   md5sum_ = md5sum;
00074 
00075   if (!header.getValue("type", type))
00076   {
00077     ROS_ERROR("Publisher header did not have required element: type");
00078     return false;
00079   }
00080 
00081   latched_ = false;
00082   if (header.getValue("latching", latched_str))
00083   {
00084     if (latched_str == "1")
00085     {
00086       latched_ = true;
00087     }
00088   }
00089 
00090   connection_id_ = ConnectionManager::instance()->getNewConnectionID();
00091   header_ = header;
00092 
00093   if (SubscriptionPtr parent = parent_.lock())
00094   {
00095     parent->headerReceived(shared_from_this(), header);
00096   }
00097 
00098   return true;
00099 }
00100 
00101 const std::string& PublisherLink::getPublisherXMLRPCURI()
00102 {
00103   return publisher_xmlrpc_uri_;
00104 }
00105 
00106 const std::string& PublisherLink::getMD5Sum()
00107 {
00108   ROS_ASSERT(!md5sum_.empty());
00109   return md5sum_;
00110 }
00111 
00112 } // namespace ros
00113 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Mon Oct 6 2014 11:46:44