/usr/include/ros/service_client_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_SERVICE_CLIENT_LINK_H
#define ROSCPP_SERVICE_CLIENT_LINK_H
#include "ros/common.h"
#include <boost/thread/mutex.hpp>
#include <boost/shared_array.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <boost/signals2/connection.hpp>
#include <queue>
namespace ros
{
class Header;
class ServicePublication;
typedef boost::weak_ptr<ServicePublication> ServicePublicationWPtr;
typedef boost::shared_ptr<ServicePublication> ServicePublicationPtr;
class Connection;
typedef boost::shared_ptr<Connection> ConnectionPtr;
/**
* \brief Handles a connection to a single incoming service client.
*/
class ROSCPP_DECL ServiceClientLink : public boost::enable_shared_from_this<ServiceClientLink>
{
public:
ServiceClientLink();
virtual ~ServiceClientLink();
//
bool initialize(const ConnectionPtr& connection);
bool handleHeader(const Header& header);
/**
* \brief Writes a response to the current request.
* \param ok Whether the callback was successful or not
* \param resp The message response. ServiceClientLink will delete this
*/
void processResponse(bool ok, const SerializedMessage& res);
const ConnectionPtr& getConnection() { return connection_; }
private:
void onConnectionDropped(const ConnectionPtr& conn);
void onHeaderWritten(const ConnectionPtr& conn);
void onRequestLength(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
void onRequest(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
void onResponseWritten(const ConnectionPtr& conn);
ConnectionPtr connection_;
ServicePublicationWPtr parent_;
bool persistent_;
boost::signals2::connection dropped_conn_;
};
typedef boost::shared_ptr<ServiceClientLink> ServiceClientLinkPtr;
} // namespace ros
#endif // ROSCPP_PUBLISHER_DATA_HANDLER_H
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