SubscriptionTransport.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef _SUBSCRIPTIONTRANSPORT_HH_
18#define _SUBSCRIPTIONTRANSPORT_HH_
19
20#include <boost/function.hpp>
21#include <boost/shared_ptr.hpp>
22#include <string>
23
24#include "Connection.hh"
25#include "CallbackHelper.hh"
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 namespace transport
31 {
34
39 class GZ_TRANSPORT_VISIBLE SubscriptionTransport : public CallbackHelper
40 {
43
45 public: virtual ~SubscriptionTransport();
46
51 public: void Init(ConnectionPtr _conn, bool _latching);
52
59 public: virtual bool HandleData(const std::string &_newdata,
60 boost::function<void(uint32_t)> _cb, uint32_t _id);
61
62 // Documentation inherited
63 public: virtual bool HandleMessage(MessagePtr _newMsg);
64
67 public: const ConnectionPtr &GetConnection() const;
68
72 public: virtual bool IsLocal() const;
73
74 private: ConnectionPtr connection;
75 };
77 }
78}
79
80#endif
transport
Definition ConnectionManager.hh:35
A helper class to handle callbacks when messages arrive.
Definition CallbackHelper.hh:45
transport/transport.hh
Definition SubscriptionTransport.hh:40
virtual ~SubscriptionTransport()
Destructor.
void Init(ConnectionPtr _conn, bool _latching)
Initialize the publication link.
virtual bool HandleMessage(MessagePtr _newMsg)
Process new incoming message.
virtual bool IsLocal() const
Is the callback local?
virtual bool HandleData(const std::string &_newdata, boost::function< void(uint32_t)> _cb, uint32_t _id)
Output a message to a connection.
const ConnectionPtr & GetConnection() const
Get the connection we're using.
boost::shared_ptr< Connection > ConnectionPtr
Definition Connection.hh:54
boost::shared_ptr< google::protobuf::Message > MessagePtr
Definition TransportTypes.hh:45
Forward declarations for the common classes.
Definition Animation.hh:27