You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
88 lines
2.9 KiB
88 lines
2.9 KiB
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2008, Willow Garage, Inc.
|
|
* Copyright (c) 2013, Open Source Robotics Foundation
|
|
* All rights reserved.
|
|
*
|
|
* 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 name of 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 CPP_CORE_HEADER_H
|
|
#define CPP_CORE_HEADER_H
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "../../../cpp_common/include/ros/datatypes.h"
|
|
#include "cpp_common_decl.h"
|
|
|
|
namespace rs2rosinternal
|
|
{
|
|
|
|
/**
|
|
* \brief Provides functionality to parse a connection header and retrieve values from it
|
|
*/
|
|
class CPP_COMMON_DECL Header
|
|
{
|
|
public:
|
|
Header();
|
|
~Header();
|
|
|
|
/**
|
|
* \brief Get a value from a parsed header
|
|
* \param key Key value
|
|
* \param value OUT -- value corresponding to the key if there is one
|
|
* \return Returns true if the header had the specified key in it
|
|
*/
|
|
bool getValue(const std::string& key, std::string& value) const;
|
|
/**
|
|
* \brief Returns a shared pointer to the internal map used
|
|
*/
|
|
M_stringPtr getValues() { return read_map_; }
|
|
|
|
/**
|
|
* \brief Parse a header out of a buffer of data
|
|
*/
|
|
bool parse(const std::vector<uint8_t>& buffer, uint32_t size, std::string& error_msg);
|
|
|
|
/**
|
|
* \brief Parse a header out of a buffer of data
|
|
*/
|
|
bool parse(const uint8_t* buffer, uint32_t size, std::string& error_msg);
|
|
|
|
static void write(const M_string& key_vals, std::vector<uint8_t>& buffer, uint32_t& size);
|
|
|
|
private:
|
|
|
|
M_stringPtr read_map_;
|
|
};
|
|
|
|
}
|
|
|
|
#endif // ROSCPP_HEADER_H
|