transport_hints.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. */
/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
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#ifndef ROSCPP_TRANSPORT_HINTS_H
#define ROSCPP_TRANSPORT_HINTS_H
 
#include "common.h"
#include "ros/forwards.h"
 
//#include <boost/lexical_cast.hpp>
 
namespace roswrap
{
 
class ROSCPP_DECL TransportHints
{
public:
  TransportHints& reliable()
  {
    tcp();
 
    return *this;
  }
 
  TransportHints& tcp()
  {
    transports_.push_back("TCP");
    return *this;
  }
 
  TransportHints& tcpNoDelay(bool nodelay = true)
  {
    options_["tcp_nodelay"] = nodelay ? "true" : "false";
    return *this;
  }
 
  bool getTCPNoDelay()
  {
    M_string::iterator it = options_.find("tcp_nodelay");
    if (it == options_.end())
    {
      return false;
    }
 
    const std::string& val = it->second;
    if (val == "true")
    {
      return true;
    }
 
    return false;
  }
 
  TransportHints& maxDatagramSize(int size)
  {
    options_["max_datagram_size"] = std::to_string(size); // boost::lexical_cast<std::string>(size);
    return *this;
  }
 
  int getMaxDatagramSize()
  {
    M_string::iterator it = options_.find("max_datagram_size");
    if (it == options_.end())
    {
      return 0;
    }
 
    return std::stoi(it->second); // boost::lexical_cast<int>(it->second);
  }
 
  TransportHints& unreliable()
  {
    udp();
 
    return *this;
  }
 
  TransportHints& udp()
  {
    transports_.push_back("UDP");
    return *this;
  }
 
  const V_string& getTransports() { return transports_; }
  const M_string& getOptions() { return options_; }
 
private:
  V_string transports_;
  M_string options_;
};
 
}
 
#endif