transport_subscriber_link.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) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
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 *     documentation and/or other materials provided with the distribution.
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 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H
#define ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H
#include "common.h"
#include "subscriber_link.h"
 
//#include <boost/signals2/connection.hpp>
 
namespace roswrap
{
 
class ROSCPP_DECL TransportSubscriberLink : public SubscriberLink
{
public:
  TransportSubscriberLink();
  virtual ~TransportSubscriberLink();
 
  //
  bool initialize(const ConnectionPtr& connection);
  bool handleHeader(const Header& header);
 
  const ConnectionPtr& getConnection() { return connection_; }
 
  virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy);
  virtual void drop();
  virtual std::string getTransportType();
  virtual std::string getTransportInfo();
 
private:
  void onConnectionDropped(const ConnectionPtr& conn);
 
  void onHeaderWritten(const ConnectionPtr& conn);
  void onMessageWritten(const ConnectionPtr& conn);
  void startMessageWrite(bool immediate_write);
 
  bool writing_message_;
  bool header_written_;
 
  ConnectionPtr connection_;
  boost::signals2::connection dropped_conn_;
 
  std::queue<SerializedMessage> outbox_;
  std::mutex outbox_mutex_;
  bool queue_full_;
};
typedef std::shared_ptr<TransportSubscriberLink> TransportSubscriberLinkPtr;
 
} // namespace roswrap
 
#endif // ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H