#include <session.h>

Inheritance diagram for rosserial_server::Session< Socket >:

Public Member Functions
bool	is_active ()

	Session (boost::asio::io_service &io_service)

void	set_require_param (std::string param_name)

void	shutdown ()

Socket &	socket ()

void	start ()

void	stop ()

Private Types
enum	{ buffer_max = 1023 }

Private Member Functions
void	attempt_sync ()

template<typename M >
bool	check_set (std::string param_name, M map)

void	handle_log (ros::serialization::IStream &stream)

void	handle_time (ros::serialization::IStream &stream)

void	read_body (ros::serialization::IStream &stream, uint16_t topic_id)

void	read_failed (const boost::system::error_code &error)

void	read_id_length (ros::serialization::IStream &stream)

void	read_sync_first (ros::serialization::IStream &stream)

void	read_sync_header ()

void	read_sync_second (ros::serialization::IStream &stream)

void	request_topics ()

void	required_topics_check (const boost::system::error_code &error)

void	ros_spin_timeout (const boost::system::error_code &error)

void	set_sync_timeout (const boost::posix_time::time_duration &interval)

void	setup_publisher (ros::serialization::IStream &stream)

void	setup_service_client_publisher (ros::serialization::IStream &stream)

void	setup_service_client_subscriber (ros::serialization::IStream &stream)

void	setup_subscriber (ros::serialization::IStream &stream)

void	sync_timeout (const boost::system::error_code &error)

void	write_completion_cb (const boost::system::error_code &error, BufferPtr buffer_ptr)

void	write_message (Buffer &message, const uint16_t topic_id)

Static Private Member Functions
static uint8_t	checksum (ros::serialization::IStream &stream)

static uint8_t	checksum (uint16_t val)

Private Attributes
bool	active_

AsyncReadBuffer< Socket >	async_read_buffer_

boost::posix_time::time_duration	attempt_interval_

std::map< uint16_t, boost::function< void(ros::serialization::IStream &)> >	callbacks_

boost::asio::io_service &	io_service_

ros::NodeHandle	nh_

std::map< uint16_t, PublisherPtr >	publishers_

boost::posix_time::time_duration	require_check_interval_

boost::asio::deadline_timer	require_check_timer_

std::string	require_param_name_

ros::CallbackQueue	ros_callback_queue_

boost::posix_time::time_duration	ros_spin_interval_

boost::asio::deadline_timer	ros_spin_timer_

std::map< std::string, ServiceClientPtr >	services_

Socket	socket_

std::map< uint16_t, SubscriberPtr >	subscribers_

boost::asio::deadline_timer	sync_timer_

boost::posix_time::time_duration	timeout_interval_

Detailed Description

template<typename Socket>
class rosserial_server::Session< Socket >

Definition at line 60 of file session.h.

Member Enumeration Documentation

◆ anonymous enum

template<typename Socket>

anonymous enum

private

Enumerator
buffer_max

Definition at line 506 of file session.h.

Constructor & Destructor Documentation

◆ Session()

template<typename Socket>

rosserial_server::Session< Socket >::Session ( boost::asio::io_service & io_service )

inline

Definition at line 63 of file session.h.

Member Function Documentation

◆ attempt_sync()

template<typename Socket>

void rosserial_server::Session< Socket >::attempt_sync ( )

inlineprivate

Definition at line 315 of file session.h.

◆ check_set()

template<typename Socket>

template<typename M >

bool rosserial_server::Session< Socket >::check_set	(	std::string	param_name,
		M	map
	)

inlineprivate

Definition at line 367 of file session.h.

◆ checksum() [1/2]

template<typename Socket>

static uint8_t rosserial_server::Session< Socket >::checksum ( ros::serialization::IStream & stream )

inlinestaticprivate

Definition at line 392 of file session.h.

◆ checksum() [2/2]

template<typename Socket>

static uint8_t rosserial_server::Session< Socket >::checksum ( uint16_t val )

inlinestaticprivate

Definition at line 400 of file session.h.

◆ handle_log()

template<typename Socket>

void rosserial_server::Session< Socket >::handle_log ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 476 of file session.h.

◆ handle_time()

template<typename Socket>

void rosserial_server::Session< Socket >::handle_time ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 486 of file session.h.

◆ is_active()

template<typename Socket>

bool rosserial_server::Session< Socket >::is_active ( )

inline

Definition at line 148 of file session.h.

◆ read_body()

template<typename Socket>

void rosserial_server::Session< Socket >::read_body	(	ros::serialization::IStream &	stream,
		uint16_t	topic_id
	)

inlineprivate

Definition at line 233 of file session.h.

◆ read_failed()

template<typename Socket>

void rosserial_server::Session< Socket >::read_failed ( const boost::system::error_code & error )

inlineprivate

Definition at line 263 of file session.h.

◆ read_id_length()

template<typename Socket>

void rosserial_server::Session< Socket >::read_id_length ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 212 of file session.h.

◆ read_sync_first()

template<typename Socket>

void rosserial_server::Session< Socket >::read_sync_first ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 192 of file session.h.

◆ read_sync_header()

template<typename Socket>

void rosserial_server::Session< Socket >::read_sync_header ( )

inlineprivate

Definition at line 188 of file session.h.

◆ read_sync_second()

template<typename Socket>

void rosserial_server::Session< Socket >::read_sync_second ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 202 of file session.h.

◆ request_topics()

template<typename Socket>

void rosserial_server::Session< Socket >::request_topics ( )

inlineprivate

Definition at line 342 of file session.h.

◆ required_topics_check()

template<typename Socket>

void rosserial_server::Session< Socket >::required_topics_check ( const boost::system::error_code & error )

inlineprivate

Definition at line 354 of file session.h.

◆ ros_spin_timeout()

template<typename Socket>

void rosserial_server::Session< Socket >::ros_spin_timeout ( const boost::system::error_code & error )

inlineprivate

Periodic function which handles calling ROS callbacks, executed on the same io_service thread to avoid a concurrency nightmare.

Definition at line 169 of file session.h.

◆ set_require_param()

template<typename Socket>

void rosserial_server::Session< Socket >::set_require_param ( std::string param_name )

inline

This is to set the name of the required topics parameter from the default of ~require. You might want to do this to avoid a conflict with something else in that namespace, or because you're embedding multiple instances of rosserial_server in a single process.

Definition at line 159 of file session.h.

◆ set_sync_timeout()

template<typename Socket>

void rosserial_server::Session< Socket >::set_sync_timeout ( const boost::posix_time::time_duration & interval )

inlineprivate

Definition at line 320 of file session.h.

◆ setup_publisher()

template<typename Socket>

void rosserial_server::Session< Socket >::setup_publisher ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 406 of file session.h.

◆ setup_service_client_publisher()

template<typename Socket>

void rosserial_server::Session< Socket >::setup_service_client_publisher ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 434 of file session.h.

◆ setup_service_client_subscriber()

template<typename Socket>

void rosserial_server::Session< Socket >::setup_service_client_subscriber ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 454 of file session.h.

◆ setup_subscriber()

template<typename Socket>

void rosserial_server::Session< Socket >::setup_subscriber ( ros::serialization::IStream & stream )

inlineprivate

Definition at line 417 of file session.h.

◆ shutdown()

template<typename Socket>

void rosserial_server::Session< Socket >::shutdown ( )

inline

Definition at line 139 of file session.h.

◆ socket()

template<typename Socket>

Socket& rosserial_server::Session< Socket >::socket ( )

inline

Definition at line 91 of file session.h.

◆ start()

template<typename Socket>

void rosserial_server::Session< Socket >::start ( )

inline

Definition at line 96 of file session.h.

◆ stop()

template<typename Socket>

void rosserial_server::Session< Socket >::stop ( )

inline

Definition at line 118 of file session.h.

◆ sync_timeout()

template<typename Socket>

void rosserial_server::Session< Socket >::sync_timeout ( const boost::system::error_code & error )

inlineprivate

Definition at line 334 of file session.h.

◆ write_completion_cb()

template<typename Socket>

void rosserial_server::Session< Socket >::write_completion_cb	(	const boost::system::error_code &	error,
		BufferPtr	buffer_ptr
	)

inlineprivate

Definition at line 299 of file session.h.

◆ write_message()

template<typename Socket>

void rosserial_server::Session< Socket >::write_message	(	Buffer &	message,
		const uint16_t	topic_id
	)

inlineprivate

Definition at line 278 of file session.h.

Member Data Documentation

◆ active_

template<typename Socket>

bool rosserial_server::Session< Socket >::active_

private

Definition at line 507 of file session.h.

◆ async_read_buffer_

template<typename Socket>

AsyncReadBuffer<Socket> rosserial_server::Session< Socket >::async_read_buffer_

private

Definition at line 505 of file session.h.

◆ attempt_interval_

template<typename Socket>

boost::posix_time::time_duration rosserial_server::Session< Socket >::attempt_interval_

private

Definition at line 513 of file session.h.

◆ callbacks_

template<typename Socket>

std::map<uint16_t, boost::function<void(ros::serialization::IStream&)> > rosserial_server::Session< Socket >::callbacks_

private

Definition at line 521 of file session.h.

◆ io_service_

template<typename Socket>

boost::asio::io_service& rosserial_server::Session< Socket >::io_service_

private

Definition at line 503 of file session.h.

◆ nh_

template<typename Socket>

ros::NodeHandle rosserial_server::Session< Socket >::nh_

private

Definition at line 509 of file session.h.

◆ publishers_

template<typename Socket>

std::map<uint16_t, PublisherPtr> rosserial_server::Session< Socket >::publishers_

private

Definition at line 522 of file session.h.

◆ require_check_interval_

template<typename Socket>

boost::posix_time::time_duration rosserial_server::Session< Socket >::require_check_interval_

private

Definition at line 514 of file session.h.

◆ require_check_timer_

template<typename Socket>

boost::asio::deadline_timer rosserial_server::Session< Socket >::require_check_timer_

private

Definition at line 517 of file session.h.

◆ require_param_name_

template<typename Socket>

std::string rosserial_server::Session< Socket >::require_param_name_

private

Definition at line 519 of file session.h.

◆ ros_callback_queue_

template<typename Socket>

ros::CallbackQueue rosserial_server::Session< Socket >::ros_callback_queue_

private

Definition at line 510 of file session.h.

◆ ros_spin_interval_

template<typename Socket>

boost::posix_time::time_duration rosserial_server::Session< Socket >::ros_spin_interval_

private

Definition at line 515 of file session.h.

◆ ros_spin_timer_

template<typename Socket>

boost::asio::deadline_timer rosserial_server::Session< Socket >::ros_spin_timer_

private

Definition at line 518 of file session.h.

◆ services_

template<typename Socket>

std::map<std::string, ServiceClientPtr> rosserial_server::Session< Socket >::services_

private

Definition at line 524 of file session.h.

◆ socket_

template<typename Socket>

Socket rosserial_server::Session< Socket >::socket_

private

Definition at line 504 of file session.h.

◆ subscribers_

template<typename Socket>

std::map<uint16_t, SubscriberPtr> rosserial_server::Session< Socket >::subscribers_

private

Definition at line 523 of file session.h.

◆ sync_timer_

template<typename Socket>

boost::asio::deadline_timer rosserial_server::Session< Socket >::sync_timer_

private

Definition at line 516 of file session.h.

◆ timeout_interval_

template<typename Socket>

boost::posix_time::time_duration rosserial_server::Session< Socket >::timeout_interval_

private

Definition at line 512 of file session.h.

The documentation for this class was generated from the following file:

session.h

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

template<typename Socket> class rosserial_server::Session< Socket >

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Session()

Member Function Documentation

◆ attempt_sync()

◆ check_set()

◆ checksum() [1/2]

◆ checksum() [2/2]

◆ handle_log()

◆ handle_time()

◆ is_active()

◆ read_body()

◆ read_failed()

◆ read_id_length()

◆ read_sync_first()

◆ read_sync_header()

◆ read_sync_second()

◆ request_topics()

◆ required_topics_check()

◆ ros_spin_timeout()

◆ set_require_param()

◆ set_sync_timeout()

◆ setup_publisher()

◆ setup_service_client_publisher()

◆ setup_service_client_subscriber()

◆ setup_subscriber()

◆ shutdown()

◆ socket()

◆ start()

◆ stop()

◆ sync_timeout()

◆ write_completion_cb()

◆ write_message()

Member Data Documentation

◆ active_

◆ async_read_buffer_

◆ attempt_interval_

◆ callbacks_

◆ io_service_

◆ nh_

◆ publishers_

◆ require_check_interval_

◆ require_check_timer_

◆ require_param_name_

◆ ros_callback_queue_

◆ ros_spin_interval_

◆ ros_spin_timer_

◆ services_

◆ socket_

◆ subscribers_

◆ sync_timer_

◆ timeout_interval_

template<typename Socket>
class rosserial_server::Session< Socket >