/usr/include/ros/publisher_link.h is in libroscpp-dev 1.11.16-3.
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* 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,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_PUBLISHER_LINK_H
#define ROSCPP_PUBLISHER_LINK_H
#include "ros/common.h"
#include "ros/transport_hints.h"
#include "ros/header.h"
#include "common.h"
#include <boost/thread/mutex.hpp>
#include <boost/shared_array.hpp>
#include <boost/weak_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <queue>
namespace ros
{
class Header;
class Message;
class Subscription;
typedef boost::shared_ptr<Subscription> SubscriptionPtr;
typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
class Connection;
typedef boost::shared_ptr<Connection> ConnectionPtr;
/**
* \brief Handles a connection to a single publisher on a given topic. Receives messages from a publisher
* and hands them off to its parent Subscription
*/
class ROSCPP_DECL PublisherLink : public boost::enable_shared_from_this<PublisherLink>
{
public:
class Stats
{
public:
uint64_t bytes_received_, messages_received_, drops_;
Stats()
: bytes_received_(0), messages_received_(0), drops_(0) { }
};
PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints);
virtual ~PublisherLink();
const Stats &getStats() { return stats_; }
const std::string& getPublisherXMLRPCURI();
int getConnectionID() const { return connection_id_; }
const std::string& getCallerID() { return caller_id_; }
bool isLatched() { return latched_; }
bool setHeader(const Header& header);
/**
* \brief Handles handing off a received message to the subscription, where it will be deserialized and called back
*/
virtual void handleMessage(const SerializedMessage& m, bool ser, bool nocopy) = 0;
virtual std::string getTransportType() = 0;
virtual std::string getTransportInfo() = 0;
virtual void drop() = 0;
const std::string& getMD5Sum();
protected:
SubscriptionWPtr parent_;
unsigned int connection_id_;
std::string publisher_xmlrpc_uri_;
Stats stats_;
TransportHints transport_hints_;
bool latched_;
std::string caller_id_;
Header header_;
std::string md5sum_;
};
} // namespace ros
#endif // ROSCPP_PUBLISHER_LINK_H
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