89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
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/*
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* Copyright (C) 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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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <boost/bind.hpp>
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#include <boost/function.hpp>
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#include "gazebo/transport/ConnectionManager.hh"
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#include "gazebo/transport/SubscriptionTransport.hh"
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using namespace gazebo;
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using namespace transport;
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extern void dummy_callback_fn(uint32_t);
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//////////////////////////////////////////////////
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SubscriptionTransport::SubscriptionTransport()
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{
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}
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//////////////////////////////////////////////////
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SubscriptionTransport::~SubscriptionTransport()
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{
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ConnectionManager::Instance()->RemoveConnection(this->connection);
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this->connection.reset();
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}
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//////////////////////////////////////////////////
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void SubscriptionTransport::Init(ConnectionPtr _conn, bool _latching)
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{
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this->connection = _conn;
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this->latching = _latching;
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}
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//////////////////////////////////////////////////
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bool SubscriptionTransport::HandleMessage(MessagePtr _newMsg)
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{
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std::string data;
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_newMsg->SerializeToString(&data);
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return this->HandleData(data, boost::bind(&dummy_callback_fn, _1), 0);
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}
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//////////////////////////////////////////////////
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bool SubscriptionTransport::HandleData(const std::string &_newdata,
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boost::function<void(uint32_t)> _cb, uint32_t _id)
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{
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bool result = false;
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if (this->connection->IsOpen())
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{
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this->connection->EnqueueMsg(_newdata, _cb, _id);
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result = true;
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}
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else
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this->connection.reset();
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return result;
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}
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//////////////////////////////////////////////////
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const ConnectionPtr &SubscriptionTransport::GetConnection() const
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{
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return this->connection;
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}
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//////////////////////////////////////////////////
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/// remote connection
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bool SubscriptionTransport::IsLocal() const
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{
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return false;
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}
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