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gazebo
transport
PublicationTransport.hh
Go to the documentation of this file.
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/*
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* Copyright 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _PUBLICATIONTRANSPORT_HH_
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#define _PUBLICATIONTRANSPORT_HH_
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#include <boost/shared_ptr.hpp>
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#include <string>
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#include "
transport/Connection.hh
"
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#include "
common/Event.hh
"
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namespace
gazebo
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{
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namespace
transport
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{
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class
PublicationTransport
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{
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public
:
PublicationTransport
(
const
std::string &_topic,
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const
std::string &_msgType);
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public
:
virtual
~PublicationTransport
();
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public
:
void
Init
(
const
ConnectionPtr
&_conn,
bool
_latched);
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public
:
void
Fini
();
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public
:
void
AddCallback
(
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const
boost::function<
void
(
const
std::string &)> &_cb);
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public
:
const
ConnectionPtr
GetConnection
()
const
;
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public
: std::string
GetTopic
()
const
;
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public
: std::string
GetMsgType
()
const
;
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private
:
void
OnConnectionShutdown();
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private
:
void
OnPublish(
const
std::string &_data);
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private
: std::string topic;
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private
: std::string msgType;
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private
:
ConnectionPtr
connection;
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private
: boost::function<void (const std::string &)> callback;
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private
:
event::ConnectionPtr
shutdownConnectionPtr;
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private
:
static
int
counter;
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private
:
int
id;
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};
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}
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}
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#endif