/usr/include/ros/transport_hints.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (C) 2009, 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_TRANSPORT_HINTS_H
#define ROSCPP_TRANSPORT_HINTS_H
#include "common.h"
#include "ros/forwards.h"
#include <boost/lexical_cast.hpp>
namespace ros
{
/**
* \brief Provides a way of specifying network transport hints to ros::NodeHandle::subscribe() and
* someday ros::NodeHandle::advertise()
*
* Uses the named parameter idiom, allowing you to do things like:
\verbatim
ros::TransportHints()
.unreliable()
.maxDatagramSize(1000)
.tcpNoDelay();
\endverbatim
*
* Hints for the transport type are used in the order they are specified, i.e. TransportHints().unreliable().reliable()
* specifies that you would prefer an unreliable transport, followed by a reliable one.
*/
class ROSCPP_DECL TransportHints
{
public:
/**
* \brief Specifies a reliable transport. Currently this means TCP
*/
TransportHints& reliable()
{
tcp();
return *this;
}
/**
* \brief Explicitly specifies the TCP transport
*/
TransportHints& tcp()
{
transports_.push_back("TCP");
return *this;
}
/**
* \brief If a TCP transport is used, specifies whether or not to use TCP_NODELAY to provide
* a potentially lower-latency connection.
*
* \param nodelay [optional] Whether or not to use TCP_NODELAY. Defaults to true.
*/
TransportHints& tcpNoDelay(bool nodelay = true)
{
options_["tcp_nodelay"] = nodelay ? "true" : "false";
return *this;
}
/**
* \brief Returns whether or not this TransportHints has specified TCP_NODELAY
*/
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;
}
/**
* \brief If a UDP transport is used, specifies the maximum datagram size.
*
* \param size The size, in bytes
*/
TransportHints& maxDatagramSize(int size)
{
options_["max_datagram_size"] = boost::lexical_cast<std::string>(size);
return *this;
}
/**
* \brief Returns the maximum datagram size specified on this TransportHints, or 0 if
* no size was specified.
*/
int getMaxDatagramSize()
{
M_string::iterator it = options_.find("max_datagram_size");
if (it == options_.end())
{
return 0;
}
return boost::lexical_cast<int>(it->second);
}
/**
* \brief Specifies an unreliable transport. Currently this means UDP.
*/
TransportHints& unreliable()
{
udp();
return *this;
}
/**
* \brief Explicitly specifies a UDP transport.
*/
TransportHints& udp()
{
transports_.push_back("UDP");
return *this;
}
/**
* \brief Returns a vector of transports, ordered by preference
*/
const V_string& getTransports() { return transports_; }
/**
* \brief Returns the map of options created by other methods inside TransportHints
*/
const M_string& getOptions() { return options_; }
private:
V_string transports_;
M_string options_;
};
}
#endif
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