transport.h

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
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#ifndef ROSCPP_TRANSPORT_H
#define ROSCPP_TRANSPORT_H
 
#include <ros/types.h>
//#include <boost/function.hpp>
#include <memory>
#include <memory>
#include <vector>
 
namespace roswrap
{
 
class Transport;
typedef std::shared_ptr<Transport> TransportPtr;
 
class Header;
 
class Transport : public std::enable_shared_from_this<Transport>
{
public:
  Transport();
  virtual ~Transport() {}
 
  virtual int32_t read(uint8_t* buffer, uint32_t size) = 0;
  virtual int32_t write(uint8_t* buffer, uint32_t size) = 0;
 
  virtual void enableWrite() = 0;
  virtual void disableWrite() = 0;
 
  virtual void enableRead() = 0;
  virtual void disableRead() = 0;
 
  virtual void close() = 0;
 
  virtual const char* getType() = 0;
 
  typedef std::function<void(const TransportPtr&)> Callback;
  void setDisconnectCallback(const Callback& cb) { disconnect_cb_ = cb; }
  void setReadCallback(const Callback& cb) { read_cb_ = cb; }
  void setWriteCallback(const Callback& cb) { write_cb_ = cb; }
 
  virtual std::string getTransportInfo() = 0;
 
  virtual bool requiresHeader() {return true;}
 
  virtual void parseHeader(const Header& header) { (void)header; }
 
protected:
  Callback disconnect_cb_;
  Callback read_cb_;
  Callback write_cb_;
 
  bool isHostAllowed(const std::string &host) const;
 
  bool isOnlyLocalhostAllowed() const { return only_localhost_allowed_; }
 
private:
  bool only_localhost_allowed_;
  std::vector<std::string> allowed_hosts_;
};
 
}
 
#endif // ROSCPP_TRANSPORT_H