udpmulti_publisher.cpp
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00001 
00002 
00003 #include <cstdlib> 
00004 #include <cstddef>
00005 #include <cassert>
00006 #include <utility>
00007 
00008 #include <ros/ros.h>
00009 
00010 #include "udpmulti_transport/UDPMultHeader.h"
00011 #include "udpmulti_transport/UDPMultRegisterTopic.h"
00012 #include "udpmulti_transport/udpmulti_publisher.h"
00013 
00014 namespace udpmulti_transport {
00015 
00016         UDPMultiPublisherImpl::UDPMultiPublisherImpl() : 
00017         io_service_()
00018     {
00019         endpoint_ = NULL;
00020         socket_ = NULL;
00021         }
00022 
00023         UDPMultiPublisherImpl::~UDPMultiPublisherImpl()
00024         {
00025         if (socket_) delete socket_;
00026         if (endpoint_) delete endpoint_;
00027         endpoint_ = NULL;
00028         socket_ = NULL;
00029         }
00030 
00031     void UDPMultiPublisherImpl::initialise(const std::string & topicname) {
00032         // TODO: Add a port management mechanism
00033 
00034         ROS_INFO("Waiting for service '/udpmulti_manager/register_topic' to be ready");
00035         ros::service::waitForService("/udpmulti_manager/register_topic");
00036         ROS_INFO("Requesting UDP Multicast port and address");
00037 
00038         ros::ServiceClient requestPortClt = nh_.serviceClient<udpmulti_transport::UDPMultRegisterTopic>("/udpmulti_manager/register_topic");
00039         udpmulti_transport::UDPMultRegisterTopic srv;
00040         srv.request.topic = topicname;
00041         if (!requestPortClt.call(srv)) {
00042             ROS_ERROR("Failed to call service register_memory");
00043         }
00044         multicast_address_ = srv.response.multicast_address;
00045         port_ = srv.response.port;
00046         ROS_INFO("Creating multicast connection on '%s:%d'",multicast_address_.c_str(),port_);
00047 
00048         endpoint_ = new boost::asio::ip::udp::endpoint(
00049                 boost::asio::ip::address::from_string(multicast_address_),port_);
00050         socket_= new boost::asio::ip::udp::socket(io_service_,endpoint_-> protocol());
00051         printf("Endpoint %p / Socket %p\n",endpoint_,socket_);
00052     }
00053 
00054         const std::string & UDPMultiPublisherImpl::getMulticastAddress() const {
00055                 return multicast_address_;
00056         }
00057 
00058         uint32_t UDPMultiPublisherImpl::getPort() const {
00059                 return port_;
00060         }
00061 
00062         UDPMultHeader UDPMultiPublisherImpl::getUDPHeader() const
00063         {
00064                 UDPMultHeader header;
00065                 header.multicast_address = multicast_address_;
00066                 header.port = port_; 
00067                 return header;
00068         }
00069 
00070 } //namespace udpmulti_transport


udpmulti_transport
Author(s): Cedric Pradalier
autogenerated on Sun Oct 5 2014 23:49:15