v01

thirdparty/ros/ros_comm/clients/roscpp/include/ros/advertise_options.h

@@ -0,0 +1,165 @@
+/*
+ * 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_ADVERTISE_OPTIONS_H
+#define ROSCPP_ADVERTISE_OPTIONS_H
+
+#include "ros/forwards.h"
+#include "ros/message_traits.h"
+#include "common.h"
+
+namespace ros
+{
+
+/**
+ * \brief Encapsulates all options available for creating a Publisher
+ */
+struct ROSCPP_DECL AdvertiseOptions
+{
+  AdvertiseOptions()
+  : callback_queue(0)
+  , latch(false)
+  {
+  }
+
+  /*
+   * \brief Constructor
+   * \param _topic Topic to publish on
+   * \param _queue_size Maximum number of outgoing messages to be queued for delivery to subscribers
+   * \param _md5sum The md5sum of the message datatype published on this topic
+   * \param _datatype Datatype of the message published on this topic (eg. "std_msgs/String")
+   * \param _connect_cb Function to call when a subscriber connects to this topic
+   * \param _disconnect_cb Function to call when a subscriber disconnects from this topic
+   */
+  AdvertiseOptions(const std::string& _topic, uint32_t _queue_size, const std::string& _md5sum,
+                   const std::string& _datatype, const std::string& _message_definition,
+                   const SubscriberStatusCallback& _connect_cb = SubscriberStatusCallback(),
+                   const SubscriberStatusCallback& _disconnect_cb = SubscriberStatusCallback())
+  : topic(_topic)
+  , queue_size(_queue_size)
+  , md5sum(_md5sum)
+  , datatype(_datatype)
+  , message_definition(_message_definition)
+  , connect_cb(_connect_cb)
+  , disconnect_cb(_disconnect_cb)
+  , callback_queue(0)
+  , latch(false)
+  , has_header(false)
+  {}
+
+  /**
+   * \brief templated helper function for automatically filling out md5sum, datatype and message definition
+   *
+   * \param M [template] Message type
+   * \param _topic Topic to publish on
+   * \param _queue_size Maximum number of outgoing messages to be queued for delivery to subscribers
+   * \param _connect_cb Function to call when a subscriber connects to this topic
+   * \param _disconnect_cb Function to call when a subscriber disconnects from this topic
+   */
+  template <class M>
+  void init(const std::string& _topic, uint32_t _queue_size,
+            const SubscriberStatusCallback& _connect_cb = SubscriberStatusCallback(),
+            const SubscriberStatusCallback& _disconnect_cb = SubscriberStatusCallback())
+  {
+    topic = _topic;
+    queue_size = _queue_size;
+    connect_cb = _connect_cb;
+    disconnect_cb = _disconnect_cb;
+    md5sum = message_traits::md5sum<M>();
+    datatype = message_traits::datatype<M>();
+    message_definition = message_traits::definition<M>();
+    has_header = message_traits::hasHeader<M>();
+  }
+
+  std::string topic;                                                ///< The topic to publish on
+  uint32_t queue_size;                                              ///< The maximum number of outgoing messages to be queued for delivery to subscribers
+
+  std::string md5sum;                                               ///< The md5sum of the message datatype published on this topic
+  std::string datatype;                                             ///< The datatype of the message published on this topic (eg. "std_msgs/String")
+  std::string message_definition;                                   ///< The full definition of the message published on this topic
+
+  SubscriberStatusCallback connect_cb;                              ///< The function to call when a subscriber connects to this topic
+  SubscriberStatusCallback disconnect_cb;                           ///< The function to call when a subscriber disconnects from this topic
+
+  CallbackQueueInterface* callback_queue;                           ///< Queue to add callbacks to.  If NULL, the global callback queue will be used
+
+  /**
+   * \brief An object whose destruction will prevent the callbacks associated with this advertisement from being called
+   *
+   * A shared pointer to an object to track for these callbacks.  If set, the a weak_ptr will be created to this object,
+   * and if the reference count goes to 0 the subscriber callbacks will not get called.
+   *
+   * \note Note that setting this will cause a new reference to be added to the object before the
+   * callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore
+   * thread) that the callback is invoked from.
+   */
+  VoidConstPtr tracked_object;
+
+  /**
+   * \brief Whether or not this publication should "latch".  A latching publication will automatically send out the last published message
+   * to any new subscribers.
+   */
+  bool latch;
+
+  /** \brief Tells whether or not the message has a header.  If it does, the sequence number will be written directly into the
+   *         serialized bytes after the message has been serialized.
+   */
+  bool has_header;
+
+
+  /**
+   * \brief Templated helper function for creating an AdvertiseOptions for a message type with most options.
+   *
+   * \param M [template] Message type
+   * \param topic Topic to publish on
+   * \param queue_size Maximum number of outgoing messages to be queued for delivery to subscribers
+   * \param connect_cb Function to call when a subscriber connects to this topic
+   * \param disconnect_cb Function to call when a subscriber disconnects from this topic
+   * \param tracked_object tracked object to use (see AdvertiseOptions::tracked_object)
+   * \param queue The callback queue to use (see AdvertiseOptions::callback_queue)
+   *
+   * \return an AdvertiseOptions which embodies the parameters
+   */
+  template<class M>
+  static AdvertiseOptions create(const std::string& topic, uint32_t queue_size,
+                          const SubscriberStatusCallback& connect_cb,
+                          const SubscriberStatusCallback& disconnect_cb,
+                          const VoidConstPtr& tracked_object,
+                          CallbackQueueInterface* queue)
+  {
+    AdvertiseOptions ops;
+    ops.init<M>(topic, queue_size, connect_cb, disconnect_cb);
+    ops.tracked_object = tracked_object;
+    ops.callback_queue = queue;
+    return ops;
+  }
+};
+
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/advertise_service_options.h

@@ -0,0 +1,166 @@
+/*
+ * 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_ADVERTISE_SERVICE_OPTIONS_H
+#define ROSCPP_ADVERTISE_SERVICE_OPTIONS_H
+
+#include "ros/forwards.h"
+#include "ros/service_callback_helper.h"
+#include "ros/service_traits.h"
+#include "ros/message_traits.h"
+#include "common.h"
+
+namespace ros
+{
+
+/**
+ * \brief Encapsulates all options available for creating a ServiceServer
+ */
+struct ROSCPP_DECL AdvertiseServiceOptions
+{
+  AdvertiseServiceOptions()
+  : callback_queue(0)
+  {
+  }
+
+  /**
+   * \brief Templated convenience method for filling out md5sum/etc. based on the service request/response types
+   * \param _service Service name to advertise on
+   * \param _callback Callback to call when this service is called
+   */
+  template<class MReq, class MRes>
+  void init(const std::string& _service, const boost::function<bool(MReq&, MRes&)>& _callback)
+  {
+    namespace st = service_traits;
+    namespace mt = message_traits;
+    if (st::md5sum<MReq>() != st::md5sum<MRes>())
+    {
+      ROS_FATAL("the request and response parameters to the server "
+      "callback function must be autogenerated from the same "
+      "server definition file (.srv). your advertise_servce "
+      "call for %s appeared to use request/response types "
+      "from different .srv files.", service.c_str());
+      ROS_BREAK();
+    }
+
+    service = _service;
+    md5sum = st::md5sum<MReq>();
+    datatype = st::datatype<MReq>();
+    req_datatype = mt::datatype<MReq>();
+    res_datatype = mt::datatype<MRes>();
+    helper = boost::make_shared<ServiceCallbackHelperT<ServiceSpec<MReq, MRes> > >(_callback);
+  }
+
+  /**
+   * \brief Templated convenience method for filling out md5sum/etc. based on the service type
+   * \param _service Service name to advertise on
+   * \param _callback Callback to call when this service is called
+   */
+  template<class Service>
+  void init(const std::string& _service, const boost::function<bool(typename Service::Request&, typename Service::Response&)>& _callback)
+  {
+    namespace st = service_traits;
+    namespace mt = message_traits;
+    typedef typename Service::Request Request;
+    typedef typename Service::Response Response;
+    service = _service;
+    md5sum = st::md5sum<Service>();
+    datatype = st::datatype<Service>();
+    req_datatype = mt::datatype<Request>();
+    res_datatype = mt::datatype<Response>();
+    helper = boost::make_shared<ServiceCallbackHelperT<ServiceSpec<Request, Response> > >(_callback);
+  }
+
+  /**
+   * \brief Templated convenience method for filling out md5sum/etc. based on the service spec type
+   * \param _service Service name to advertise on
+   * \param _callback Callback to call when this service is called
+   */
+  template<class Spec>
+  void initBySpecType(const std::string& _service, const typename Spec::CallbackType& _callback)
+  {
+    namespace st = service_traits;
+    namespace mt = message_traits;
+    typedef typename Spec::RequestType Request;
+    typedef typename Spec::ResponseType Response;
+    service = _service;
+    md5sum = st::md5sum<Request>();
+    datatype = st::datatype<Request>();
+    req_datatype = mt::datatype<Request>();
+    res_datatype = mt::datatype<Response>();
+    helper = boost::make_shared<ServiceCallbackHelperT<Spec> >(_callback);
+  }
+
+  std::string service;                                                ///< Service name
+  std::string md5sum;                                                 ///< MD5 of the service
+  std::string datatype;                                               ///< Datatype of the service
+  std::string req_datatype;                                           ///< Request message datatype
+  std::string res_datatype;                                           ///< Response message datatype
+
+  ServiceCallbackHelperPtr helper;                                     ///< Helper object used for creating messages and calling callbacks
+
+  CallbackQueueInterface* callback_queue;                             ///< Queue to add callbacks to.  If NULL, the global callback queue will be used
+
+  /**
+   * \brief An object whose destruction will prevent the callback associated with this service from being called
+   *
+   * A shared pointer to an object to track for these callbacks.  If set, the a weak_ptr will be created to this object,
+   * and if the reference count goes to 0 the subscriber callbacks will not get called.
+   *
+   * \note Note that setting this will cause a new reference to be added to the object before the
+   * callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore
+   * thread) that the callback is invoked from.
+   */
+  VoidConstPtr tracked_object;
+
+  /**
+   * \brief Templated helper function for creating an AdvertiseServiceOptions with all of its options
+   * \param service Service name to advertise on
+   * \param callback The callback to invoke when the service is called
+   * \param tracked_object The tracked object to use (see AdvertiseServiceOptions::tracked_object)
+   * \param queue The callback queue to use (see AdvertiseServiceOptions::callback_queue)
+   */
+  template<class Service>
+  static AdvertiseServiceOptions create(const std::string& service,
+                                 const boost::function<bool(typename Service::Request&, typename Service::Response&)>& callback,
+                                 const VoidConstPtr& tracked_object,
+                                 CallbackQueueInterface* queue)
+  {
+    AdvertiseServiceOptions ops;
+    ops.init<typename Service::Request, typename Service::Response>(service, callback);
+    ops.tracked_object = tracked_object;
+    ops.callback_queue = queue;
+    return ops;
+  }
+};
+
+
+
+}
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/callback_queue.h

@@ -0,0 +1,203 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  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 ROSCPP_CALLBACK_QUEUE_H
+#define ROSCPP_CALLBACK_QUEUE_H
+
+// check if we might need to include our own backported version boost::condition_variable
+// in order to use CLOCK_MONOTONIC for the condition variable
+// the include order here is important!
+#ifdef BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+#include <boost/version.hpp>
+#if BOOST_VERSION < 106100
+// use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
+#include "boost_161_condition_variable.h"
+#else // Boost version is 1.61 or greater and has the steady clock fixes
+#include <boost/thread/condition_variable.hpp>
+#endif
+#else // !BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+#include <boost/thread/condition_variable.hpp>
+#endif // BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+
+#include "ros/callback_queue_interface.h"
+#include "ros/time.h"
+#include "common.h"
+
+#include <boost/shared_ptr.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/shared_mutex.hpp>
+#include <boost/thread/tss.hpp>
+
+#include <list>
+#include <deque>
+
+namespace ros
+{
+
+/**
+ * \brief This is the default implementation of the ros::CallbackQueueInterface
+ */
+class ROSCPP_DECL CallbackQueue : public CallbackQueueInterface
+{
+public:
+  CallbackQueue(bool enabled = true);
+  virtual ~CallbackQueue();
+
+  virtual void addCallback(const CallbackInterfacePtr& callback, uint64_t removal_id = 0);
+  virtual void removeByID(uint64_t removal_id);
+
+  enum CallOneResult
+  {
+    Called,
+    TryAgain,
+    Disabled,
+    Empty,
+  };
+
+  /**
+   * \brief Pop a single callback off the front of the queue and invoke it.  If the callback was not ready to be called,
+   * pushes it back onto the queue.
+   */
+  CallOneResult callOne()
+  {
+    return callOne(ros::WallDuration());
+  }
+
+  /**
+   * \brief Pop a single callback off the front of the queue and invoke it.  If the callback was not ready to be called,
+   * pushes it back onto the queue.  This version includes a timeout which lets you specify the amount of time to wait for
+   * a callback to be available before returning.
+   *
+   * \param timeout The amount of time to wait for a callback to be available.  If there is already a callback available,
+   * this parameter does nothing.
+   */
+  CallOneResult callOne(ros::WallDuration timeout);
+
+  /**
+   * \brief Invoke all callbacks currently in the queue.  If a callback was not ready to be called, pushes it back onto the queue.
+   */
+  void callAvailable()
+  {
+    callAvailable(ros::WallDuration());
+  }
+  /**
+   * \brief Invoke all callbacks currently in the queue.  If a callback was not ready to be called, pushes it back onto the queue.  This version
+   * includes a timeout which lets you specify the amount of time to wait for a callback to be available before returning.
+   *
+   * \param timeout The amount of time to wait for at least one callback to be available.  If there is already at least one callback available,
+   * this parameter does nothing.
+   */
+  void callAvailable(ros::WallDuration timeout);
+
+  /**
+   * \brief returns whether or not the queue is empty
+   */
+  bool empty() { return isEmpty(); }
+  /**
+   * \brief returns whether or not the queue is empty
+   */
+  bool isEmpty();
+  /**
+   * \brief Removes all callbacks from the queue.  Does \b not wait for calls currently in progress to finish.
+   */
+  void clear();
+
+  /**
+   * \brief Enable the queue (queue is enabled by default)
+   */
+  void enable();
+  /**
+   * \brief Disable the queue, meaning any calls to addCallback() will have no effect
+   */
+  void disable();
+  /**
+   * \brief Returns whether or not this queue is enabled
+   */
+  bool isEnabled();
+
+protected:
+  void setupTLS();
+
+  struct TLS;
+  CallOneResult callOneCB(TLS* tls);
+
+  struct IDInfo
+  {
+    uint64_t id;
+    boost::shared_mutex calling_rw_mutex;
+  };
+  typedef boost::shared_ptr<IDInfo> IDInfoPtr;
+  typedef std::map<uint64_t, IDInfoPtr> M_IDInfo;
+
+  IDInfoPtr getIDInfo(uint64_t id);
+
+  struct CallbackInfo
+  {
+    CallbackInfo()
+    : removal_id(0)
+    , marked_for_removal(false)
+    {}
+    CallbackInterfacePtr callback;
+    uint64_t removal_id;
+    bool marked_for_removal;
+  };
+  typedef std::list<CallbackInfo> L_CallbackInfo;
+  typedef std::deque<CallbackInfo> D_CallbackInfo;
+  D_CallbackInfo callbacks_;
+  size_t calling_;
+  boost::mutex mutex_;
+  boost::condition_variable condition_;
+
+  boost::mutex id_info_mutex_;
+  M_IDInfo id_info_;
+
+  struct TLS
+  {
+    TLS()
+    : calling_in_this_thread(0xffffffffffffffffULL)
+    , cb_it(callbacks.end())
+    {}
+    uint64_t calling_in_this_thread;
+    D_CallbackInfo callbacks;
+    D_CallbackInfo::iterator cb_it;
+  };
+  boost::thread_specific_ptr<TLS> tls_;
+
+  bool enabled_;
+};
+typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/callback_queue_interface.h

@@ -0,0 +1,101 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  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 ROSCPP_CALLBACK_QUEUE_INTERFACE_H
+#define ROSCPP_CALLBACK_QUEUE_INTERFACE_H
+
+#include <boost/shared_ptr.hpp>
+#include "common.h"
+#include "ros/types.h"
+
+namespace ros
+{
+
+/**
+ * \brief Abstract interface for items which can be added to a CallbackQueueInterface
+ */
+class ROSCPP_DECL CallbackInterface
+{
+public:
+  /**
+   * \brief Possible results for the call() method
+   */
+  enum CallResult
+  {
+    Success,   ///< Call succeeded
+    TryAgain,  ///< Call not ready, try again later
+    Invalid,   ///< Call no longer valid
+  };
+
+  virtual ~CallbackInterface() {}
+
+  /**
+   * \brief Call this callback
+   * \return The result of the call
+   */
+  virtual CallResult call() = 0;
+  /**
+   * \brief Provides the opportunity for specifying that a callback is not ready to be called
+   * before call() actually takes place.
+   */
+  virtual bool ready() { return true; }
+};
+typedef boost::shared_ptr<CallbackInterface> CallbackInterfacePtr;
+
+/**
+ * \brief Abstract interface for a queue used to handle all callbacks within roscpp.
+ *
+ * Allows you to inherit and provide your own implementation that can be used instead of our
+ * default CallbackQueue
+ */
+class CallbackQueueInterface
+{
+public:
+  virtual ~CallbackQueueInterface() {}
+
+  /**
+   * \brief Add a callback, with an optional owner id.  The owner id can be used to
+   * remove a set of callbacks from this queue.
+   */
+  virtual void addCallback(const CallbackInterfacePtr& callback, uint64_t owner_id = 0) = 0;
+
+  /**
+   * \brief Remove all callbacks associated with an owner id
+   */
+  virtual void removeByID(uint64_t owner_id) = 0;
+};
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/common.h.in

@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_COMMON_H
+#define ROSCPP_COMMON_H
+
+#include <stdint.h>
+#include <assert.h>
+#include <stddef.h>
+#include <string>
+
+#include "ros/assert.h"
+#include "ros/forwards.h"
+#include "ros/serialized_message.h"
+
+#include <boost/shared_array.hpp>
+
+#define ROS_VERSION_MAJOR @roscpp_VERSION_MAJOR@
+#define ROS_VERSION_MINOR @roscpp_VERSION_MINOR@
+#define ROS_VERSION_PATCH @roscpp_VERSION_PATCH@
+#define ROS_VERSION_COMBINED(major, minor, patch) (((major) << 20) | ((minor) << 10) | (patch))
+#define ROS_VERSION ROS_VERSION_COMBINED(ROS_VERSION_MAJOR, ROS_VERSION_MINOR, ROS_VERSION_PATCH)
+
+#define ROS_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (ROS_VERSION_COMBINED(major1, minor1, patch1) >= ROS_VERSION_COMBINED(major2, minor2, patch2))
+#define ROS_VERSION_MINIMUM(major, minor, patch) ROS_VERSION_GE(ROS_VERSION_MAJOR, ROS_VERSION_MINOR, ROS_VERSION_PATCH, major, minor, patch)
+
+#include <ros/macros.h>
+
+// Import/export for windows dll's and visibility for gcc shared libraries.
+
+#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
+  #ifdef roscpp_EXPORTS // we are building a shared lib/dll
+    #define ROSCPP_DECL ROS_HELPER_EXPORT
+  #else // we are using shared lib/dll
+    #define ROSCPP_DECL ROS_HELPER_IMPORT
+  #endif
+#else // ros is being built around static libraries
+  #define ROSCPP_DECL
+#endif
+
+namespace ros
+{
+
+void disableAllSignalsInThisThread();
+
+}
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/connection.h

@@ -0,0 +1,271 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 ROSCPP_CONNECTION_H
+#define ROSCPP_CONNECTION_H
+
+#include "ros/header.h"
+#include "common.h"
+
+#include <boost/signals2.hpp>
+
+#include <boost/function.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/enable_shared_from_this.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/recursive_mutex.hpp>
+
+#define READ_BUFFER_SIZE (1024*64)
+
+namespace ros
+{
+
+class Transport;
+typedef boost::shared_ptr<Transport> TransportPtr;
+class Connection;
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+typedef boost::function<void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t, bool)> ReadFinishedFunc;
+typedef boost::function<void(const ConnectionPtr&)> WriteFinishedFunc;
+
+typedef boost::function<bool(const ConnectionPtr&, const Header&)> HeaderReceivedFunc;
+
+/**
+ * \brief Encapsulates a connection to a remote host, independent of the transport type
+ *
+ * Connection provides automatic header negotiation, as well as easy ways of reading and writing
+ * arbitrary amounts of data without having to set up your own state machines.
+ */
+class ROSCPP_DECL Connection : public boost::enable_shared_from_this<Connection>
+{
+public:
+  enum DropReason
+  {
+    TransportDisconnect,
+    HeaderError,
+    Destructing,
+  };
+
+  Connection();
+  ~Connection();
+
+  /**
+   * \brief Initialize this connection.
+   */
+  void initialize(const TransportPtr& transport, bool is_server, const HeaderReceivedFunc& header_func);
+  /**
+   * \brief Drop this connection.  Anything added as a drop listener through addDropListener will get called back when this connection has
+   * been dropped.
+   */
+  void drop(DropReason reason);
+
+  /**
+   * \brief Returns whether or not this connection has been dropped
+   */
+  bool isDropped();
+
+  /**
+   * \brief Returns true if we're currently sending a header error (and will be automatically dropped when it's finished)
+   */
+  bool isSendingHeaderError() { return sending_header_error_; }
+
+  /**
+   * \brief Send a header error message, of the form "error=<message>".  Drops the connection once the data has written successfully (or fails to write)
+   * \param error_message The error message
+   */
+  void sendHeaderError(const std::string& error_message);
+  /**
+   * \brief Send a list of string key/value pairs as a header message.
+   * \param key_vals The values to send.  Neither keys nor values can have any newlines in them
+   * \param finished_callback The function to call when the header has finished writing
+   */
+  void writeHeader(const M_string& key_vals, const WriteFinishedFunc& finished_callback);
+
+  /**
+   * \brief Read a number of bytes, calling a callback when finished
+   *
+   * read() will not queue up multiple reads.  Once read() has been called, it is not valid to call it again until the
+   * finished callback has been called.  It \b is valid to call read() from within the finished callback.
+   *
+   * The finished callback is of the form void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t)
+   *
+   * \note The finished callback may be called from within this call to read() if the data has already arrived
+   *
+   * \param size The size, in bytes, of data to read
+   * \param finished_callback The function to call when this read is finished
+   */
+  void read(uint32_t size, const ReadFinishedFunc& finished_callback);
+  /**
+   * \brief Write a buffer of bytes, calling a callback when finished
+   *
+   * write() will not queue up multiple writes.  Once write() has been called, it is not valid to call it again until
+   * the finished callback has been called.  It \b is valid to call write() from within the finished callback.
+   *
+   * * The finished callback is of the form void(const ConnectionPtr&)
+   *
+   * \note The finished callback may be called from within this call to write() if the data can be written immediately
+   *
+   * \param buffer The buffer of data to write
+   * \param size The size of the buffer, in bytes
+   * \param finished_callback The function to call when the write has finished
+   * \param immediate Whether to immediately try to write as much data as possible to the socket or to pass
+   * the data off to the server thread
+   */
+  void write(const boost::shared_array<uint8_t>& buffer, uint32_t size, const WriteFinishedFunc& finished_callback, bool immedate = true);
+
+  typedef boost::signals2::signal<void(const ConnectionPtr&, DropReason reason)> DropSignal;
+  typedef boost::function<void(const ConnectionPtr&, DropReason reason)> DropFunc;
+  /**
+   * \brief Add a callback to be called when this connection has dropped
+   */
+  boost::signals2::connection addDropListener(const DropFunc& slot);
+  void removeDropListener(const boost::signals2::connection& c);
+
+  /**
+   * \brief Set the header receipt callback
+   */
+  void setHeaderReceivedCallback(const HeaderReceivedFunc& func);
+
+  /**
+   * \brief Get the Transport associated with this connection
+   */
+  const TransportPtr& getTransport() { return transport_; }
+  /**
+   * \brief Get the Header associated with this connection
+   */
+  Header& getHeader() { return header_; }
+
+  /**
+   * \brief Set the Header associated with this connection (used with UDPROS, 
+   *        which receives the connection during XMLRPC negotiation).
+   */
+  void setHeader(const Header& header) { header_ = header; }
+
+  std::string getCallerId();
+  std::string getRemoteString();
+
+private:
+  /**
+   * \brief Called by the Transport when there is data available to be read
+   */
+  void onReadable(const TransportPtr& transport);
+  /**
+   * \brief Called by the Transport when it is possible to write data
+   */
+  void onWriteable(const TransportPtr& transport);
+  /**
+   * \brief Called by the Transport when it has been disconnected, either through a call to close()
+   * or through an error in the connection (such as a remote disconnect)
+   */
+  void onDisconnect(const TransportPtr& transport);
+
+
+  void onHeaderWritten(const ConnectionPtr& conn);
+  void onErrorHeaderWritten(const ConnectionPtr& conn);
+  void onHeaderLengthRead(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+  void onHeaderRead(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+
+  /**
+   * \brief Read data off our transport.  Also manages calling the read callback.  If there is any data to be read,
+   * read() will read it until the fixed read buffer is filled.
+   */
+  void readTransport();
+  /**
+   * \brief Write data to our transport.  Also manages calling the write callback.
+   */
+  void writeTransport();
+
+  /// Are we a server?  Servers wait for clients to send a header and then send a header in response.
+  bool is_server_;
+  /// Have we dropped?
+  bool dropped_;
+  /// Incoming header
+  Header header_;
+  /// Transport associated with us
+  TransportPtr transport_;
+  /// Function that handles the incoming header
+  HeaderReceivedFunc header_func_;
+
+  /// Read buffer that ends up being passed to the read callback
+  boost::shared_array<uint8_t> read_buffer_;
+  /// Amount of data currently in the read buffer, in bytes
+  uint32_t read_filled_;
+  /// Size of the read buffer, in bytes
+  uint32_t read_size_;
+  /// Function to call when the read is finished
+  ReadFinishedFunc read_callback_;
+  /// Mutex used for protecting reading.  Recursive because a read can immediately cause another read through the callback.
+  boost::recursive_mutex read_mutex_;
+  /// Flag telling us if we're in the middle of a read (mostly to avoid recursive deadlocking)
+  bool reading_;
+  /// flag telling us if there is a read callback
+  /// 32-bit loads and stores are atomic on x86 and PPC... TODO: use a cross-platform atomic operations library
+  /// to ensure this is done atomically
+  volatile uint32_t has_read_callback_;
+
+  /// Buffer to write from
+  boost::shared_array<uint8_t> write_buffer_;
+  /// Amount of data we've written from the write buffer
+  uint32_t write_sent_;
+  /// Size of the write buffer
+  uint32_t write_size_;
+  /// Function to call when the current write is finished
+  WriteFinishedFunc write_callback_;
+  boost::mutex write_callback_mutex_;
+  /// Mutex used for protecting writing.  Recursive because a write can immediately cause another write through the callback
+  boost::recursive_mutex write_mutex_;
+  /// Flag telling us if we're in the middle of a write (mostly used to avoid recursive deadlocking)
+  bool writing_;
+  /// flag telling us if there is a write callback
+  /// 32-bit loads and stores are atomic on x86 and PPC... TODO: use a cross-platform atomic operations library
+  /// to ensure this is done atomically
+  volatile uint32_t has_write_callback_;
+
+  /// Function to call when the outgoing header has finished writing
+  WriteFinishedFunc header_written_callback_;
+
+  /// Signal raised when this connection is dropped
+  DropSignal drop_signal_;
+
+  /// Synchronizes drop() calls
+  boost::recursive_mutex drop_mutex_;
+
+  /// If we're sending a header error we disable most other calls
+  bool sending_header_error_;
+};
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+
+} // namespace ros
+
+#endif // ROSCPP_CONNECTION_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/connection_manager.h

@@ -0,0 +1,106 @@
+/*
+ * 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 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.
+ */
+
+#include "forwards.h"
+#include "connection.h"
+#include "common.h"
+
+#include <boost/thread/mutex.hpp>
+#include <boost/signals2/connection.hpp>
+
+namespace ros
+{
+
+class PollManager;
+typedef boost::shared_ptr<PollManager> PollManagerPtr;
+
+class ConnectionManager;
+typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
+
+class ROSCPP_DECL ConnectionManager
+{
+public:
+  static const ConnectionManagerPtr& instance();
+
+  ConnectionManager();
+  ~ConnectionManager();
+
+  /** @brief Get a new connection ID
+   */
+  uint32_t getNewConnectionID();
+
+  /** @brief Add a connection to be tracked by the node.  Will automatically remove them if they've been dropped, but from inside the ros thread
+   *
+   * @param The connection to add
+   */
+  void addConnection(const ConnectionPtr& connection);
+
+  void clear(Connection::DropReason reason);
+
+  uint32_t getTCPPort();
+  uint32_t getUDPPort();
+
+  const TransportTCPPtr& getTCPServerTransport() { return tcpserver_transport_; }
+  const TransportUDPPtr& getUDPServerTransport() { return udpserver_transport_; }
+
+  void udprosIncomingConnection(const TransportUDPPtr& transport, Header& header);
+
+  void start();
+  void shutdown();
+
+private:
+  void onConnectionDropped(const ConnectionPtr& conn);
+  // Remove any dropped connections from our list, causing them to be destroyed
+  // They can't just be removed immediately when they're dropped because the ros
+  // thread may still be using them (or more likely their transport)
+  void removeDroppedConnections();
+
+  bool onConnectionHeaderReceived(const ConnectionPtr& conn, const Header& header);
+  void tcprosAcceptConnection(const TransportTCPPtr& transport);
+
+  PollManagerPtr poll_manager_;
+
+  S_Connection connections_;
+  V_Connection dropped_connections_;
+  boost::mutex connections_mutex_;
+  boost::mutex dropped_connections_mutex_;
+
+  // The connection ID counter, used to assign unique ID to each inbound or
+  // outbound connection.  Access via getNewConnectionID()
+  uint32_t connection_id_counter_;
+  boost::mutex connection_id_counter_mutex_;
+
+  boost::signals2::connection poll_conn_;
+
+  TransportTCPPtr tcpserver_transport_;
+  TransportUDPPtr udpserver_transport_;
+
+  const static int MAX_TCPROS_CONN_QUEUE = 100; // magic
+};
+
+}
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/exceptions.h

@@ -0,0 +1,96 @@
+/*
+ * 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_EXCEPTIONS_H
+#define ROSCPP_EXCEPTIONS_H
+
+#include <ros/exception.h>
+
+namespace ros
+{
+
+/**
+ * \brief Thrown when an invalid node name is specified to ros::init()
+ */
+class InvalidNodeNameException : public ros::Exception
+{
+public:
+  InvalidNodeNameException(const std::string& name, const std::string& reason)
+  : Exception("Invalid node name [" + name + "]: " + reason)
+  {}
+};
+
+/**
+ * \brief Thrown when an invalid graph resource name is specified to any roscpp
+ * function.
+ */
+class InvalidNameException : public ros::Exception
+{
+public:
+  InvalidNameException(const std::string& msg)
+  : Exception(msg)
+  {}
+};
+
+/**
+ * \brief Thrown when a second (third,...) subscription is attempted with conflicting
+ * arguments.
+ */
+class ConflictingSubscriptionException : public ros::Exception
+{
+public:
+  ConflictingSubscriptionException(const std::string& msg)
+  : Exception(msg)
+  {}
+};
+
+/**
+ * \brief Thrown when an invalid parameter is passed to a method
+ */
+class InvalidParameterException : public ros::Exception
+{
+public:
+  InvalidParameterException(const std::string& msg)
+  : Exception(msg)
+  {}
+};
+
+/**
+ * \brief Thrown when an invalid port is specified
+ */
+class InvalidPortException : public ros::Exception
+{
+public:
+  InvalidPortException(const std::string& msg)
+  : Exception(msg)
+  {}
+};
+
+} // namespace ros
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/file_log.h

@@ -0,0 +1,52 @@
+/*
+ * 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_FILE_LOG_H
+#define ROSCPP_FILE_LOG_H
+
+#include "forwards.h"
+#include <ros/console.h>
+#include "common.h"
+
+#define ROSCPP_LOG_DEBUG(...) ROS_DEBUG_NAMED("roscpp_internal", __VA_ARGS__)
+#define ROSCPP_CONN_LOG_DEBUG(...) ROS_DEBUG_NAMED("roscpp_internal.connections", __VA_ARGS__)
+
+namespace ros
+{
+
+/**
+ * \brief internal
+ */
+namespace file_log
+{
+  // 20110418 TDS: this appears to be used only by rosout.
+  ROSCPP_DECL const std::string& getLogDirectory();
+}
+
+}
+
+#endif // ROSCPP_FILE_LOG_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/forwards.h

@@ -0,0 +1,195 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_FORWARDS_H
+#define ROSCPP_FORWARDS_H
+
+#include <string>
+#include <vector>
+#include <map>
+#include <set>
+#include <list>
+
+#include <boost/shared_ptr.hpp>
+#include <boost/make_shared.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/function.hpp>
+
+#include <ros/time.h>
+#include <ros/macros.h>
+#include "exceptions.h"
+#include "ros/datatypes.h"
+
+namespace ros
+{
+
+typedef boost::shared_ptr<void> VoidPtr;
+typedef boost::weak_ptr<void> VoidWPtr;
+typedef boost::shared_ptr<void const> VoidConstPtr;
+typedef boost::weak_ptr<void const> VoidConstWPtr;
+
+class Header;
+class Transport;
+typedef boost::shared_ptr<Transport> TransportPtr;
+class TransportTCP;
+typedef boost::shared_ptr<TransportTCP> TransportTCPPtr;
+class TransportUDP;
+typedef boost::shared_ptr<TransportUDP> TransportUDPPtr;
+class Connection;
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+typedef std::set<ConnectionPtr> S_Connection;
+typedef std::vector<ConnectionPtr> V_Connection;
+class Publication;
+typedef boost::shared_ptr<Publication> PublicationPtr;
+typedef std::vector<PublicationPtr> V_Publication;
+class SubscriberLink;
+typedef boost::shared_ptr<SubscriberLink> SubscriberLinkPtr;
+typedef std::vector<SubscriberLinkPtr> V_SubscriberLink;
+class Subscription;
+typedef boost::shared_ptr<Subscription> SubscriptionPtr;
+typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
+typedef std::list<SubscriptionPtr> L_Subscription;
+typedef std::vector<SubscriptionPtr> V_Subscription;
+typedef std::set<SubscriptionPtr> S_Subscription;
+class PublisherLink;
+typedef boost::shared_ptr<PublisherLink> PublisherLinkPtr;
+typedef std::vector<PublisherLinkPtr> V_PublisherLink;
+class ServicePublication;
+typedef boost::shared_ptr<ServicePublication> ServicePublicationPtr;
+typedef std::list<ServicePublicationPtr> L_ServicePublication;
+typedef std::vector<ServicePublicationPtr> V_ServicePublication;
+class ServiceServerLink;
+typedef boost::shared_ptr<ServiceServerLink> ServiceServerLinkPtr;
+typedef std::list<ServiceServerLinkPtr> L_ServiceServerLink;
+class Transport;
+typedef boost::shared_ptr<Transport> TransportPtr;
+class NodeHandle;
+typedef boost::shared_ptr<NodeHandle> NodeHandlePtr;
+
+
+class SingleSubscriberPublisher;
+typedef boost::function<void(const SingleSubscriberPublisher&)> SubscriberStatusCallback;
+
+class CallbackQueue;
+class CallbackQueueInterface;
+class CallbackInterface;
+typedef boost::shared_ptr<CallbackInterface> CallbackInterfacePtr;
+
+struct SubscriberCallbacks
+{
+  SubscriberCallbacks(const SubscriberStatusCallback& connect = SubscriberStatusCallback(),
+                      const SubscriberStatusCallback& disconnect = SubscriberStatusCallback(),
+                      const VoidConstPtr& tracked_object = VoidConstPtr(),
+                      CallbackQueueInterface* callback_queue = 0)
+  : connect_(connect)
+  , disconnect_(disconnect)
+  , callback_queue_(callback_queue)
+  {
+    has_tracked_object_ = false;
+    if (tracked_object)
+    {
+      has_tracked_object_ = true;
+      tracked_object_ = tracked_object;
+    }
+  }
+  SubscriberStatusCallback connect_;
+  SubscriberStatusCallback disconnect_;
+
+  bool has_tracked_object_;
+  VoidConstWPtr tracked_object_;
+  CallbackQueueInterface* callback_queue_;
+};
+typedef boost::shared_ptr<SubscriberCallbacks> SubscriberCallbacksPtr;
+
+/**
+ * \brief Structure passed as a parameter to the callback invoked by a ros::Timer
+ */
+struct TimerEvent
+{
+  Time last_expected;                     ///< In a perfect world, this is when the last callback should have happened
+  Time last_real;                         ///< When the last callback actually happened
+
+  Time current_expected;                  ///< In a perfect world, this is when the current callback should be happening
+  Time current_real;                      ///< This is when the current callback was actually called (Time::now() as of the beginning of the callback)
+
+  struct
+  {
+    WallDuration last_duration;           ///< How long the last callback ran for
+  } profile;
+};
+typedef boost::function<void(const TimerEvent&)> TimerCallback;
+
+/**
+ * \brief Structure passed as a parameter to the callback invoked by a ros::WallTimer
+ */
+struct WallTimerEvent
+{
+  WallTime last_expected;                 ///< In a perfect world, this is when the last callback should have happened
+  WallTime last_real;                     ///< When the last callback actually happened
+
+  WallTime current_expected;              ///< In a perfect world, this is when the current callback should be happening
+  WallTime current_real;                  ///< This is when the current callback was actually called (Time::now() as of the beginning of the callback)
+
+  struct
+  {
+    WallDuration last_duration;           ///< How long the last callback ran for
+  } profile;
+};
+typedef boost::function<void(const WallTimerEvent&)> WallTimerCallback;
+
+/**
+ * \brief Structure passed as a parameter to the callback invoked by a ros::SteadyTimer
+ */
+struct SteadyTimerEvent
+{
+  SteadyTime last_expected;            ///< In a perfect world, this is when the last callback should have happened
+  SteadyTime last_real;                ///< When the last callback actually happened
+
+  SteadyTime current_expected;         ///< In a perfect world, this is when the current callback should be happening
+  SteadyTime current_real;             ///< This is when the current callback was actually called (SteadyTime::now() as of the beginning of the callback)
+
+  struct
+  {
+    WallDuration last_duration;           ///< How long the last callback ran for
+  } profile;
+};
+typedef boost::function<void(const SteadyTimerEvent&)> SteadyTimerCallback;
+
+class ServiceManager;
+typedef boost::shared_ptr<ServiceManager> ServiceManagerPtr;
+class TopicManager;
+typedef boost::shared_ptr<TopicManager> TopicManagerPtr;
+class ConnectionManager;
+typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
+class XMLRPCManager;
+typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
+class PollManager;
+typedef boost::shared_ptr<PollManager> PollManagerPtr;
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/init.h

@@ -0,0 +1,220 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  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 ROSCPP_INIT_H
+#define ROSCPP_INIT_H
+
+#include "ros/forwards.h"
+#include "ros/spinner.h"
+#include "common.h"
+
+namespace ros
+{
+
+namespace init_options
+{
+/**
+ * \brief Flags for ROS initialization
+ */
+enum InitOption
+{
+  /**
+   * Don't install a SIGINT handler.  You should install your own SIGINT handler in this
+   * case, to ensure that the node gets shutdown correctly when it exits.
+   */
+  NoSigintHandler = 1 << 0,
+  /** \brief Anonymize the node name.  Adds a random number to the end of your node's name, to make it unique.
+   */
+  AnonymousName = 1 << 1,
+  /**
+   * \brief Don't broadcast rosconsole output to the /rosout topic
+   */
+  NoRosout = 1 << 2,
+};
+}
+typedef init_options::InitOption InitOption;
+
+/** @brief ROS initialization function.
+ *
+ * This function will parse any ROS arguments (e.g., topic name
+ * remappings), and will consume them (i.e., argc and argv may be modified
+ * as a result of this call).
+ *
+ * Use this version if you are using the NodeHandle API
+ *
+ * \param argc
+ * \param argv
+ * \param name Name of this node.  The name must be a base name, ie. it cannot contain namespaces.
+ * \param options [optional] Options to start the node with (a set of bit flags from \ref ros::init_options)
+ * \throws InvalidNodeNameException If the name passed in is not a valid "base" name
+ *
+ */
+ROSCPP_DECL void init(int &argc, char **argv, const std::string& name, uint32_t options = 0);
+
+/**
+ * \brief alternate ROS initialization function.
+ *
+ * \param remappings A map<string, string> where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
+ * \param name Name of this node.  The name must be a base name, ie. it cannot contain namespaces.
+ * \param options [optional] Options to start the node with (a set of bit flags from \ref ros::init_options)
+ * \throws InvalidNodeNameException If the name passed in is not a valid "base" name
+ */
+ROSCPP_DECL void init(const M_string& remappings, const std::string& name, uint32_t options = 0);
+
+/**
+ * \brief alternate ROS initialization function.
+ *
+ * \param remappings A vector<pair<string, string> > where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
+ * \param name Name of this node.  The name must be a base name, ie. it cannot contain namespaces.
+ * \param options [optional] Options to start the node with (a set of bit flags from \ref ros::init_options)
+ * \throws InvalidNodeNameException If the name passed in is not a valid "base" name
+ */
+ROSCPP_DECL void init(const VP_string& remapping_args, const std::string& name, uint32_t options = 0);
+
+/**
+ * \brief Returns whether or not ros::init() has been called
+ */
+ROSCPP_DECL bool isInitialized();
+/**
+ * \brief Returns whether or not ros::shutdown() has been (or is being) called
+ */
+ROSCPP_DECL bool isShuttingDown();
+
+/** \brief Enter simple event loop
+ *
+ * This method enters a loop, processing callbacks.  This method should only be used
+ * if the NodeHandle API is being used.
+ *
+ * This method is mostly useful when your node does all of its work in
+ * subscription callbacks.  It will not process any callbacks that have been assigned to
+ * custom queues.
+ *
+ */
+ROSCPP_DECL void spin();
+
+/** \brief Enter simple event loop
+ *
+ * This method enters a loop, processing callbacks.  This method should only be used
+ * if the NodeHandle API is being used.
+ *
+ * This method is mostly useful when your node does all of its work in
+ * subscription callbacks.  It will not process any callbacks that have been assigned to
+ * custom queues.
+ *
+ * \param spinner a spinner to use to call callbacks.  Two default implementations are available,
+ * SingleThreadedSpinner and MultiThreadedSpinner
+ */
+ROSCPP_DECL void spin(Spinner& spinner);
+/**
+ * \brief Process a single round of callbacks.
+ *
+ * This method is useful if you have your own loop running and would like to process
+ * any callbacks that are available.  This is equivalent to calling callAvailable() on the
+ * global CallbackQueue.  It will not process any callbacks that have been assigned to
+ * custom queues.
+ */
+ROSCPP_DECL void spinOnce();
+
+/**
+ * \brief Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.
+ */
+ROSCPP_DECL void waitForShutdown();
+
+/** \brief Check whether it's time to exit.
+ *
+ * ok() becomes false once ros::shutdown() has been called and is finished
+ *
+ * \return true if we're still OK, false if it's time to exit
+ */
+ROSCPP_DECL bool ok();
+/**
+ * \brief Disconnects everything and unregisters from the master.  It is generally not
+ * necessary to call this function, as the node will automatically shutdown when all
+ * NodeHandles destruct.  However, if you want to break out of a spin() loop explicitly,
+ * this function allows that.
+ */
+ROSCPP_DECL void shutdown();
+
+/**
+ * \brief Request that the node shut itself down from within a ROS thread
+ *
+ * This method signals a ROS thread to call shutdown().
+ */
+ROSCPP_DECL void requestShutdown();
+
+/**
+ * \brief Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops,
+ * connects to internal subscriptions like /clock, starts internal service servers, etc.).
+ *
+ * Usually unnecessary to call manually, as it is automatically called by the creation of the first NodeHandle if
+ * the node has not already been started.  If you would like to prevent the automatic shutdown caused by the last
+ * NodeHandle going out of scope, call this before any NodeHandle has been created (e.g. immediately after init())
+ */
+ROSCPP_DECL void start();
+/**
+ * \brief Returns whether or not the node has been started through ros::start()
+ */
+ROSCPP_DECL bool isStarted();
+
+/**
+ * \brief Returns a pointer to the global default callback queue.
+ *
+ * This is the queue that all callbacks get added to unless a different one is specified, either in the NodeHandle
+ * or in the individual NodeHandle::subscribe()/NodeHandle::advertise()/etc. functions.
+ */
+ROSCPP_DECL CallbackQueue* getGlobalCallbackQueue();
+
+/**
+ * \brief searches the command line arguments for the given arg parameter. In case this argument is not found
+ * an empty string is returned.
+ *
+ * \param argc the number of command-line arguments
+ * \param argv the command-line arguments
+ * \param arg argument to search for
+ */
+ROSCPP_DECL std::string getROSArg(int argc, const char* const* argv, const std::string& arg);
+
+/**
+ * \brief returns a vector of program arguments that do not include any ROS remapping arguments.  Useful if you need
+ * to parse your arguments to determine your node name
+ *
+ * \param argc the number of command-line arguments
+ * \param argv the command-line arguments
+ * \param [out] args_out Output args, stripped of any ROS args
+ */
+ROSCPP_DECL void removeROSArgs(int argc, const char* const* argv, V_string& args_out);
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/internal_timer_manager.h

@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2010, 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_INTERNAL_TIMER_MANAGER_H
+#define ROSCPP_INTERNAL_TIMER_MANAGER_H
+
+#include "forwards.h"
+#include <ros/time.h>
+#include "common.h"
+
+namespace ros
+{
+
+template<typename T, typename D, typename E> class TimerManager;
+typedef TimerManager<SteadyTime, WallDuration, SteadyTimerEvent> InternalTimerManager;
+typedef boost::shared_ptr<InternalTimerManager> InternalTimerManagerPtr;
+
+ROSCPP_DECL void initInternalTimerManager();
+ROSCPP_DECL InternalTimerManagerPtr getInternalTimerManager();
+
+} // namespace ros
+
+#endif // ROSCPP_INTERNAL_TIMER_MANAGER_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/intraprocess_publisher_link.h

@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_INTRAPROCESS_PUBLISHER_LINK_H
+#define ROSCPP_INTRAPROCESS_PUBLISHER_LINK_H
+
+#include "publisher_link.h"
+#include "common.h"
+
+#include <boost/thread/recursive_mutex.hpp>
+
+namespace ros
+{
+class Subscription;
+typedef boost::shared_ptr<Subscription> SubscriptionPtr;
+typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
+
+class IntraProcessSubscriberLink;
+typedef boost::shared_ptr<IntraProcessSubscriberLink> IntraProcessSubscriberLinkPtr;
+
+/**
+ * \brief Handles a connection to a single publisher on a given topic.  Receives messages from a publisher
+ * and hands them off to its parent Subscription
+ */
+class ROSCPP_DECL IntraProcessPublisherLink : public PublisherLink
+{
+public:
+  IntraProcessPublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints);
+  virtual ~IntraProcessPublisherLink();
+
+  void setPublisher(const IntraProcessSubscriberLinkPtr& publisher);
+
+  virtual std::string getTransportType();
+  virtual std::string getTransportInfo();
+  virtual void drop();
+
+  /**
+   * \brief Handles handing off a received message to the subscription, where it will be deserialized and called back
+   */
+  virtual void handleMessage(const SerializedMessage& m, bool ser, bool nocopy);
+
+  void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti);
+
+private:
+  IntraProcessSubscriberLinkPtr publisher_;
+  bool dropped_;
+  boost::recursive_mutex drop_mutex_;
+};
+typedef boost::shared_ptr<IntraProcessPublisherLink> IntraProcessPublisherLinkPtr;
+
+} // namespace ros
+
+#endif // ROSCPP_INTRAPROCESS_PUBLISHER_LINK_H
+
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/intraprocess_subscriber_link.h

@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_INTRAPROCESS_SUBSCRIBER_LINK_H
+#define ROSCPP_INTRAPROCESS_SUBSCRIBER_LINK_H
+#include "subscriber_link.h"
+#include "common.h"
+
+#include <boost/thread/recursive_mutex.hpp>
+
+namespace ros
+{
+
+class IntraProcessPublisherLink;
+typedef boost::shared_ptr<IntraProcessPublisherLink> IntraProcessPublisherLinkPtr;
+
+/**
+ * \brief SubscriberLink handles broadcasting messages to a single subscriber on a single topic
+ */
+class ROSCPP_DECL IntraProcessSubscriberLink : public SubscriberLink
+{
+public:
+  IntraProcessSubscriberLink(const PublicationPtr& parent);
+  virtual ~IntraProcessSubscriberLink();
+
+  void setSubscriber(const IntraProcessPublisherLinkPtr& subscriber);
+  bool isLatching();
+
+  virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy);
+  virtual void drop();
+  virtual std::string getTransportType();
+  virtual std::string getTransportInfo();
+  virtual bool isIntraprocess() { return true; }
+  virtual void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti);
+
+private:
+  IntraProcessPublisherLinkPtr subscriber_;
+  bool dropped_;
+  boost::recursive_mutex drop_mutex_;
+};
+typedef boost::shared_ptr<IntraProcessSubscriberLink> IntraProcessSubscriberLinkPtr;
+
+} // namespace ros
+
+#endif // ROSCPP_INTRAPROCESS_SUBSCRIBER_LINK_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/io.h

@@ -0,0 +1,216 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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.
+ */
+/*****************************************************************************
+** Ifdefs
+*****************************************************************************/
+#ifndef ROSCPP_IO_H_
+#define ROSCPP_IO_H_
+
+/*****************************************************************************
+** Includes
+*****************************************************************************/
+
+#include <string>
+#include "common.h"
+
+#ifdef WIN32
+	#include <winsock2.h> // For struct timeval
+	#include <ws2tcpip.h> // Must be after winsock2.h because MS didn't put proper inclusion guards in their headers.
+	#include <sys/types.h>
+	#include <io.h>
+	#include <fcntl.h>
+	#include <process.h> // for _getpid
+#else
+	#include <poll.h> // should get cmake to explicitly check for poll.h?
+	#include <sys/poll.h>
+	#include <arpa/inet.h>
+	#include <netdb.h>
+    #include <unistd.h>
+    #include <netdb.h>       // getnameinfo in network.cpp
+    #include <netinet/in.h>  // sockaddr_in in network.cpp
+	#include <netinet/tcp.h> // TCP_NODELAY in transport/transport_tcp.cpp
+#endif
+
+/*****************************************************************************
+** Cross Platform Macros
+*****************************************************************************/
+
+#ifdef WIN32
+    #define getpid _getpid
+	#define ROS_INVALID_SOCKET INVALID_SOCKET
+	#define ROS_SOCKETS_SHUT_RDWR SD_BOTH /* Used by ::shutdown() */
+	#define ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN WSAEWOULDBLOCK
+	#ifndef POLLRDNORM
+		#define POLLRDNORM  0x0100 /* mapped to read fds_set */
+	#endif
+	#ifndef POLLRDBAND
+		#define POLLRDBAND  0x0200 /* mapped to exception fds_set */
+	#endif
+	#ifndef POLLIN
+		#define POLLIN      (POLLRDNORM | POLLRDBAND) /* There is data to read.  */
+	#endif
+	#ifndef POLLPRI
+		#define POLLPRI     0x0400 /* There is urgent data to read.  */
+	#endif
+
+	#ifndef POLLWRNORM
+		#define POLLWRNORM  0x0010 /* mapped to write fds_set */
+	#endif
+	#ifndef POLLOUT
+		#define POLLOUT     (POLLWRNORM) /* Writing now will not block.  */
+	#endif
+	#ifndef POLLWRBAND
+		#define POLLWRBAND  0x0020 /* mapped to write fds_set */
+	#endif
+	#ifndef POLLERR
+		#define POLLERR     0x0001 /* Error condition.  */
+	#endif
+	#ifndef POLLHUP
+		#define POLLHUP     0x0002 /* Hung up.  */
+	#endif
+	#ifndef POLLNVAL
+		#define POLLNVAL    0x0004 /* Invalid polling request.  */
+	#endif
+#else
+	#define ROS_SOCKETS_SHUT_RDWR SHUT_RDWR /* Used by ::shutdown() */
+	#define ROS_INVALID_SOCKET ((int) -1)
+	#define ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN EINPROGRESS
+#endif
+
+/*****************************************************************************
+** Namespaces
+*****************************************************************************/
+
+namespace ros {
+
+/*****************************************************************************
+** Cross Platform Types
+*****************************************************************************/
+
+#ifdef WIN32
+  typedef SOCKET socket_fd_t;
+  typedef SOCKET signal_fd_t;
+  /* poll emulation support */
+  typedef struct socket_pollfd {
+    socket_fd_t fd;      /* file descriptor */
+    short events;     /* requested events */
+    short revents;    /* returned events */
+  } socket_pollfd;
+
+  typedef unsigned long int nfds_t;
+  #ifdef _MSC_VER
+    typedef int pid_t; /* return type for windows' _getpid */
+  #endif
+#else
+  typedef int socket_fd_t;
+  typedef int signal_fd_t;
+  typedef struct pollfd socket_pollfd;
+#endif
+
+typedef boost::shared_ptr<std::vector<socket_pollfd> > pollfd_vector_ptr;
+
+/*****************************************************************************
+** Functions
+*****************************************************************************/
+
+ROSCPP_DECL int last_socket_error();
+ROSCPP_DECL const char* last_socket_error_string();
+ROSCPP_DECL bool last_socket_error_is_would_block();
+ROSCPP_DECL pollfd_vector_ptr poll_sockets(int epfd, socket_pollfd *fds, nfds_t nfds, int timeout);
+ROSCPP_DECL int set_non_blocking(socket_fd_t &socket);
+ROSCPP_DECL int close_socket(socket_fd_t &socket);
+ROSCPP_DECL int create_signal_pair(signal_fd_t signal_pair[2]);
+
+ROSCPP_DECL int create_socket_watcher();
+ROSCPP_DECL void close_socket_watcher(int fd);
+ROSCPP_DECL void add_socket_to_watcher(int epfd, int fd);
+ROSCPP_DECL void del_socket_from_watcher(int epfd, int fd);
+ROSCPP_DECL void set_events_on_socket(int epfd, int fd, int events);
+
+/*****************************************************************************
+** Inlines - almost direct api replacements, should stay fast.
+*****************************************************************************/
+
+/**
+ * Closes the signal pair - on windows we're using sockets (because windows
+ * select() function cant handle pipes). On linux, we're just using the pipes.
+ * @param signal_pair : the signal pair type.
+ */
+inline void close_signal_pair(signal_fd_t signal_pair[2]) {
+#ifdef WIN32 // use a socket pair
+	::closesocket(signal_pair[0]);
+	::closesocket(signal_pair[1]);
+#else // use a socket pair on mingw or pipe pair on linux, either way, close works
+	::close(signal_pair[0]);
+	::close(signal_pair[1]);
+#endif
+}
+
+/**
+ * Write to a signal_fd_t device. On windows we're using sockets (because windows
+ * select() function cant handle pipes) so we have to use socket functions.
+ * On linux, we're just using the pipes.
+ */
+#ifdef _MSC_VER
+	inline int write_signal(const signal_fd_t &signal, const char *buffer, const unsigned int &nbyte) {
+		return ::send(signal, buffer, nbyte, 0);
+//		return write(signal, buffer, nbyte);
+	}
+#else
+	inline ssize_t write_signal(const signal_fd_t &signal, const void *buffer, const size_t &nbyte) {
+		return write(signal, buffer, nbyte);
+	}
+#endif
+
+
+/**
+ * Read from a signal_fd_t device. On windows we're using sockets (because windows
+ * select() function cant handle pipes) so we have to use socket functions.
+ * On linux, we're just using the pipes.
+ */
+#ifdef _MSC_VER
+	inline int read_signal(const signal_fd_t &signal, char *buffer, const unsigned int &nbyte) {
+		return ::recv(signal, buffer, nbyte, 0);
+//		return _read(signal, buffer, nbyte);
+	}
+#else
+	inline ssize_t read_signal(const signal_fd_t &signal, void *buffer, const size_t &nbyte) {
+		return read(signal, buffer, nbyte);
+	}
+#endif
+
+} // namespace ros
+
+#endif /* ROSCPP_IO_H_ */
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/master.h

@@ -0,0 +1,130 @@
+/*
+ * 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_MASTER_H
+#define ROSCPP_MASTER_H
+
+#include "forwards.h"
+#include "xmlrpcpp/XmlRpcValue.h"
+#include "common.h"
+
+namespace ros
+{
+
+/**
+ * \brief Contains functions which allow you to query information about the master
+ */
+namespace master
+{
+
+/** @brief Execute an XMLRPC call on the master
+ *
+ * @param method The RPC method to invoke
+ * @param request The arguments to the RPC call
+ * @param response [out] The resonse that was received.
+ * @param payload [out] The payload that was received.
+ * @param wait_for_master Whether or not this call should loop until it can contact the master
+ *
+ * @return true if call succeeds, false otherwise.
+ */
+ROSCPP_DECL bool execute(const std::string& method, const XmlRpc::XmlRpcValue& request, XmlRpc::XmlRpcValue& response, XmlRpc::XmlRpcValue& payload, bool wait_for_master);
+
+/** @brief Get the hostname where the master runs.
+ *
+ * @return The master's hostname, as a string
+ */
+ROSCPP_DECL const std::string& getHost();
+/** @brief Get the port where the master runs.
+ *
+ * @return The master's port.
+ */
+ROSCPP_DECL uint32_t getPort();
+/**
+ * \brief Get the full URI to the master (eg. http://host:port/)
+ */
+ROSCPP_DECL const std::string& getURI();
+
+/** @brief Check whether the master is up
+ *
+ * This method tries to contact the master.  You can call it any time
+ * after ros::init has been called.  The intended usage is to check
+ * whether the master is up before trying to make other requests
+ * (subscriptions, advertisements, etc.).
+ *
+ * @returns true if the master is available, false otherwise.
+ */
+ROSCPP_DECL bool check();
+
+/**
+ * \brief Contains information retrieved from the master about a topic
+ */
+struct ROSCPP_DECL TopicInfo
+{
+  TopicInfo() {}
+  TopicInfo(const std::string& _name, const std::string& _datatype /*, const std::string& _md5sum*/)
+  : name(_name)
+  , datatype(_datatype)
+  //, md5sum(_md5sum)
+  {}
+  std::string name;        ///< Name of the topic
+  std::string datatype;    ///< Datatype of the topic
+
+  // not possible yet unfortunately (master does not have this information)
+  //std::string md5sum;      ///< md5sum of the topic
+};
+typedef std::vector<TopicInfo> V_TopicInfo;
+
+/** @brief Get the list of topics that are being published by all nodes.
+ *
+ * This method communicates with the master to retrieve the list of all
+ * currently advertised topics.
+ *
+ * @param topics A place to store the resulting list.  Each item in the
+ * list is a pair <string topic, string type>.  The type is represented
+ * in the format "package_name/MessageName", and is also retrievable
+ * through message.__getDataType() or MessageName::__s_getDataType().
+ *
+ * @return true on success, false otherwise (topics not filled in)
+ */
+ROSCPP_DECL bool getTopics(V_TopicInfo& topics);
+
+/**
+ * \brief Retreives the currently-known list of nodes from the master
+ */
+ROSCPP_DECL bool getNodes(V_string& nodes);
+
+/**
+ * @brief Set the max time this node should spend looping trying to connect to the master
+ * @param The timeout.  A negative value means infinite
+ */
+ROSCPP_DECL void setRetryTimeout(ros::WallDuration timeout);
+
+} // namespace master
+
+} // namespace ros
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/message.h

@@ -0,0 +1,88 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_MESSAGE_H
+#define ROSCPP_MESSAGE_H
+
+// #warning You should not be using this file
+
+#include "ros/macros.h"
+#include "ros/assert.h"
+#include <string>
+#include <string.h>
+#include <boost/shared_ptr.hpp>
+#include <boost/array.hpp>
+#include <stdint.h>
+
+
+#define ROSCPP_MESSAGE_HAS_DEFINITION
+
+namespace ros
+{
+
+typedef std::map<std::string, std::string> M_string;
+
+/**
+ * \deprecated This base-class is deprecated in favor of a template-based serialization and traits system
+ */
+#if 0
+class Message
+{
+public:
+  typedef boost::shared_ptr<Message> Ptr;
+  typedef boost::shared_ptr<Message const> ConstPtr;
+  Message()
+  {
+  }
+  virtual ~Message()
+  {
+  }
+  virtual const std::string __getDataType() const = 0;
+  virtual const std::string __getMD5Sum() const = 0;
+  virtual const std::string __getMessageDefinition() const = 0;
+  inline static std::string __s_getDataType() { ROS_BREAK(); return std::string(""); }
+  inline static std::string __s_getMD5Sum() { ROS_BREAK(); return std::string(""); }
+  inline static std::string __s_getMessageDefinition() { ROS_BREAK(); return std::string(""); }
+  virtual uint32_t serializationLength() const = 0;
+  virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const = 0;
+  virtual uint8_t *deserialize(uint8_t *read_ptr) = 0;
+  uint32_t __serialized_length;
+};
+
+typedef boost::shared_ptr<Message> MessagePtr;
+typedef boost::shared_ptr<Message const> MessageConstPtr;
+#endif
+
+#define SROS_SERIALIZE_PRIMITIVE(ptr, data) { memcpy(ptr, &data, sizeof(data)); ptr += sizeof(data); }
+#define SROS_SERIALIZE_BUFFER(ptr, data, data_size) { if (data_size > 0) { memcpy(ptr, data, data_size); ptr += data_size; } }
+#define SROS_DESERIALIZE_PRIMITIVE(ptr, data) { memcpy(&data, ptr, sizeof(data)); ptr += sizeof(data); }
+#define SROS_DESERIALIZE_BUFFER(ptr, data, data_size) { if (data_size > 0) { memcpy(data, ptr, data_size); ptr += data_size; } }
+
+}
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/message_deserializer.h

@@ -0,0 +1,66 @@
+/*
+ * 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 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_MESSAGE_DESERIALIZER_H
+#define ROSCPP_MESSAGE_DESERIALIZER_H
+
+#include "forwards.h"
+#include "common.h"
+
+#include <ros/serialized_message.h>
+
+#include <boost/thread/mutex.hpp>
+#include <boost/shared_array.hpp>
+
+namespace ros
+{
+
+class SubscriptionCallbackHelper;
+typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
+
+class ROSCPP_DECL MessageDeserializer
+{
+public:
+  MessageDeserializer(const SubscriptionCallbackHelperPtr& helper, const SerializedMessage& m, const boost::shared_ptr<M_string>& connection_header);
+
+  VoidConstPtr deserialize();
+  const boost::shared_ptr<M_string>& getConnectionHeader() { return connection_header_; }
+
+private:
+  SubscriptionCallbackHelperPtr helper_;
+  SerializedMessage serialized_message_;
+  boost::shared_ptr<M_string> connection_header_;
+
+  boost::mutex mutex_;
+  VoidConstPtr msg_;
+};
+typedef boost::shared_ptr<MessageDeserializer> MessageDeserializerPtr;
+
+}
+
+#endif // ROSCPP_MESSAGE_DESERIALIZER_H
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/names.h

@@ -0,0 +1,96 @@
+/*
+ * 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 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_NAMES_H
+#define ROSCPP_NAMES_H
+
+#include "forwards.h"
+#include "common.h"
+
+namespace ros
+{
+
+/**
+ * \brief Contains functions which allow you to manipulate ROS names
+ */
+namespace names
+{
+
+/**
+ * \brief Cleans a graph resource name: removes double slashes, trailing slash
+ */
+ROSCPP_DECL std::string clean(const std::string& name);
+/**
+ * \brief Resolve a graph resource name into a fully qualified graph resource name
+ *
+ * See http://www.ros.org/wiki/Names for more details
+ *
+ * \param name Name to resolve
+ * \param remap Whether or not to apply remappings to the name
+ * \throws InvalidNameException if the name passed is not a valid graph resource name
+ */
+ROSCPP_DECL std::string resolve(const std::string& name, bool remap = true);
+/**
+ * \brief Resolve a graph resource name into a fully qualified graph resource name
+ *
+ * See http://www.ros.org/wiki/Names for more details
+ *
+ * \param ns Namespace to use in resolution
+ * \param name Name to resolve
+ * \param remap Whether or not to apply remappings to the name
+ * \throws InvalidNameException if the name passed is not a valid graph resource name
+ */
+ROSCPP_DECL std::string resolve(const std::string& ns, const std::string& name, bool remap = true);
+/**
+ * \brief Append one name to another
+ */
+ROSCPP_DECL std::string append(const std::string& left, const std::string& right);
+/**
+ * \brief Apply remappings to a name
+ * \throws InvalidNameException if the name passed is not a valid graph resource name
+ */
+ROSCPP_DECL std::string remap(const std::string& name);
+/**
+ * \brief Validate a name against the name spec
+ */
+ROSCPP_DECL bool validate(const std::string& name, std::string& error);
+
+ROSCPP_DECL const M_string& getRemappings();
+ROSCPP_DECL const M_string& getUnresolvedRemappings();
+
+/**
+ * \brief Get the parent namespace of a name
+ * \param name The namespace of which to get the parent namespace.  
+ * \throws InvalidNameException if the name passed is not a valid graph resource name
+ */
+ROSCPP_DECL std::string parentNamespace(const std::string& name);
+
+} // namespace names
+
+} // namespace ros
+
+#endif // ROSCPP_NAMES_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/network.h

@@ -0,0 +1,51 @@
+/*
+ * 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_NETWORK_H
+#define ROSCPP_NETWORK_H
+
+#include "forwards.h"
+#include "common.h"
+
+namespace ros
+{
+
+/**
+ * \brief internal
+ */
+namespace network
+{
+
+ROSCPP_DECL bool splitURI(const std::string& uri, std::string& host, uint32_t& port);
+ROSCPP_DECL const std::string& getHost();
+ROSCPP_DECL uint16_t getTCPROSPort();
+
+} // namespace network
+
+} // namespace ros
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/param.h

@@ -0,0 +1,651 @@
+/*
+ * 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 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_PARAM_H
+#define ROSCPP_PARAM_H
+
+#include "forwards.h"
+#include "common.h"
+#include "xmlrpcpp/XmlRpcValue.h"
+
+#include <vector>
+#include <map>
+
+namespace ros
+{
+
+/**
+ * \brief Contains functions which allow you to query the parameter server
+ */
+namespace param
+{
+
+/** \brief Set an arbitrary XML/RPC value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param v The value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const XmlRpc::XmlRpcValue& v);
+/** \brief Set a string value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param s The value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::string& s);
+/** \brief Set a string value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param s The value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const char* s);
+/** \brief Set a double value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param d The value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, double d);
+/** \brief Set an integer value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param i The value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, int i);
+/** \brief Set a bool value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param b The value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, bool b);
+
+
+/** \brief Set a string vector value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param vec The vector value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::vector<std::string>& vec);
+/** \brief Set a double vector value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param vec The vector value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::vector<double>& vec);
+/** \brief Set a float vector value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param vec The vector value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::vector<float>& vec);
+/** \brief Set an integer  vector value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param vec The vector value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::vector<int>& vec);
+/** \brief Set a bool vector value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param vec The vector value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::vector<bool>& vec);
+
+/** \brief Set a string->string map value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param map The map value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::map<std::string, std::string>& map);
+/** \brief Set a string->double map value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param map The map value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::map<std::string, double>& map);
+/** \brief Set a string->float map value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param map The map value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::map<std::string, float>& map);
+/** \brief Set a string->int map value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param map The map value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::map<std::string, int>& map);
+/** \brief Set a string->bool map value on the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param map The map value to be inserted.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL void set(const std::string& key, const std::map<std::string, bool>& map);
+
+
+/** \brief Get a string value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] s Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::string& s);
+/** \brief Get a double value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] d Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, double& d);
+/** \brief Get a float value from the parameter server (internally using the double value).
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] f Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, float& f);
+/** \brief Get an integer value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] i Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, int& i);
+/** \brief Get a boolean value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] b Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, bool& b);
+/** \brief Get an arbitrary XML/RPC value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] v Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, XmlRpc::XmlRpcValue& v);
+
+/** \brief Get a string value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] s Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::string& s);
+/** \brief Get a double value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] d Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, double& d);
+/** \brief Get a float value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] f Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, float& f);
+/** \brief Get an integer value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] i Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, int& i);
+/** \brief Get a boolean value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] b Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, bool& b);
+/** \brief Get an arbitrary XML/RPC value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] v Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, XmlRpc::XmlRpcValue& v);
+
+/** \brief Get a string vector value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::vector<std::string>& vec);
+/** \brief Get a double  vector value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::vector<double>& vec);
+/** \brief Get a float  vector value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::vector<float>& vec);
+/** \brief Get an int vector value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::vector<int>& vec);
+/** \brief Get a bool vector value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::vector<bool>& vec);
+
+/** \brief Get a string vector value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::vector<std::string>& vec);
+/** \brief Get a double vector value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::vector<double>& vec);
+/** \brief Get a float vector value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::vector<float>& vec);
+/** \brief Get an int vector value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::vector<int>& vec);
+/** \brief Get a bool vector value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] vec Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::vector<bool>& vec);
+
+/** \brief Get a string->string map value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::map<std::string, std::string>& map);
+/** \brief Get a string->double map value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::map<std::string, double>& map);
+/** \brief Get a string->float map value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::map<std::string, float>& map);
+/** \brief Get a string->int map value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::map<std::string, int>& map);
+/** \brief Get a string->bool map value from the parameter server.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool get(const std::string& key, std::map<std::string, bool>& map);
+
+/** \brief Get a string->string map value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, std::string>& map);
+/** \brief Get a string->double map value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, double>& map);
+/** \brief Get a string->float map value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, float>& map);
+/** \brief Get a string->int map value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, int>& map);
+/** \brief Get a string->bool map value from the parameter server, with local caching
+ *
+ * This function will cache parameters locally, and subscribe for updates from
+ * the parameter server.  Once the parameter is retrieved for the first time
+ * no subsequent getCached() calls with the same key will query the master --
+ * they will instead look up in the local cache.
+ *
+ * \param key The key to be used in the parameter server's dictionary
+ * \param[out] map Storage for the retrieved value.
+ *
+ * \return true if the parameter value was retrieved, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool getCached(const std::string& key, std::map<std::string, bool>& map);
+
+/** \brief Check whether a parameter exists on the parameter server.
+ *
+ * \param key The key to check.
+ *
+ * \return true if the parameter exists, false otherwise
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool has(const std::string& key);
+/** \brief Delete a parameter from the parameter server.
+ *
+ * \param key The key to delete.
+ *
+ * \return true if the deletion succeeded, false otherwise.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool del(const std::string& key);
+
+/** \brief Search up the tree for a parameter with a given key
+ *
+ * This function parameter server's searchParam feature to search up the tree for
+ * a parameter.  For example, if the parameter server has a parameter [/a/b]
+ * and you specify the namespace [/a/c/d], searching for the parameter "b" will
+ * yield [/a/b].  If [/a/c/d/b] existed, that parameter would be returned instead.
+ *
+ * \param ns The namespace to begin the search in
+ * \param key the parameter to search for
+ * \param [out] result the found value (if any)
+ *
+ * \return true if the parameter was found, false otherwise.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool search(const std::string& ns, const std::string& key, std::string& result);
+
+/** \brief Search up the tree for a parameter with a given key.  This version defaults to starting in
+ * the current node's name
+ *
+ * This function parameter server's searchParam feature to search up the tree for
+ * a parameter.  For example, if the parameter server has a parameter [/a/b]
+ * and you specify the namespace [/a/c/d], searching for the parameter "b" will
+ * yield [/a/b].  If [/a/c/d/b] existed, that parameter would be returned instead.
+ *
+ * \param key the parameter to search for
+ * \param [out] result the found value (if any)
+ *
+ * \return true if the parameter was found, false otherwise.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+ROSCPP_DECL bool search(const std::string& key, std::string& result);
+
+/**
+ * \brief Get the list of all the parameters in the server
+ * \param keys The vector of all the keys
+ * \return false if the process fails
+ */
+ROSCPP_DECL bool getParamNames(std::vector<std::string>& keys);
+
+/** \brief Assign value from parameter server, with default.
+ *
+ * This method tries to retrieve the indicated parameter value from the
+ * parameter server, storing the result in param_val.  If the value
+ * cannot be retrieved from the server, default_val is used instead.
+ *
+ * \param param_name The key to be searched on the parameter server.
+ * \param[out] param_val Storage for the retrieved value.
+ * \param default_val Value to use if the server doesn't contain this
+ * parameter.
+ * \return true if the parameter was retrieved from the server, false otherwise.
+ * \throws InvalidNameException if the key is not a valid graph resource name
+ */
+template<typename T>
+bool param(const std::string& param_name, T& param_val, const T& default_val)
+{
+  if (has(param_name))
+  {
+    if (get(param_name, param_val))
+    {
+      return true;
+    }
+  }
+
+  param_val = default_val;
+  return false;
+}
+
+/**
+ * \brief Return value from parameter server, or default if unavailable.
+ *
+ * This method tries to retrieve the indicated parameter value from the
+ * parameter server. If the parameter cannot be retrieved, \c default_val
+ * is returned instead.
+ *
+ * \param param_name The key to be searched on the parameter server.
+ *
+ * \param default_val Value to return if the server doesn't contain this
+ * parameter.
+ *
+ * \return The parameter value retrieved from the parameter server, or
+ * \c default_val if unavailable.
+ *
+ * \throws InvalidNameException If the key is not a valid graph resource name.
+ */
+template<typename T>
+T param(const std::string& param_name, const T& default_val)
+{
+  T param_val;
+  param(param_name, param_val, default_val);
+  return param_val;
+}
+
+} // namespace param
+
+} // namespace ros
+
+#endif // ROSCPP_PARAM_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/parameter_adapter.h

@@ -0,0 +1,182 @@
+/*
+ * Copyright (C) 2010, 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_PARAMETER_ADAPTER_H
+#define ROSCPP_PARAMETER_ADAPTER_H
+
+#include "ros/forwards.h"
+#include "ros/message_event.h"
+#include <ros/static_assert.h>
+
+#include <boost/type_traits/add_const.hpp>
+#include <boost/type_traits/remove_const.hpp>
+#include <boost/type_traits/remove_reference.hpp>
+
+namespace ros
+{
+
+/**
+ * \brief Generally not for outside use.  Adapts a function parameter type into the message type, event type and parameter.  Allows you to
+ * retrieve a parameter type from an event type.
+ *
+ * ParameterAdapter is generally only useful for outside use when implementing things that require message callbacks
+ * (such as the message_filters package)and you would like to support all the roscpp message parameter types
+ *
+ * The ParameterAdapter is templated on the callback parameter type (\b not the bare message type), and provides 3 things:
+ *  - Message typedef, which provides the bare message type, no const or reference qualifiers
+ *  - Event typedef, which provides the ros::MessageEvent type
+ *  - Parameter typedef, which provides the actual parameter type (may be slightly different from M)
+ *  - static getParameter(event) function, which returns a parameter type given the event
+ *  - static bool is_const informs you whether or not the parameter type is a const message
+ *
+ *  ParameterAdapter is specialized to allow callbacks of any of the forms:
+\verbatim
+void callback(const boost::shared_ptr<M const>&);
+void callback(const boost::shared_ptr<M>&);
+void callback(boost::shared_ptr<M const>);
+void callback(boost::shared_ptr<M>);
+void callback(const M&);
+void callback(M);
+void callback(const MessageEvent<M const>&);
+void callback(const MessageEvent<M>&);
+\endverbatim
+ */
+template<typename M>
+struct ParameterAdapter
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef M Parameter;
+  static const bool is_const = true;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return *event.getMessage();
+  }
+};
+
+template<typename M>
+struct ParameterAdapter<const boost::shared_ptr<M const>& >
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef const boost::shared_ptr<Message const> Parameter;
+  static const bool is_const = true;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return event.getMessage();
+  }
+};
+
+template<typename M>
+struct ParameterAdapter<const boost::shared_ptr<M>& >
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef boost::shared_ptr<Message> Parameter;
+  static const bool is_const = false;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return ros::MessageEvent<Message>(event).getMessage();
+  }
+};
+
+template<typename M>
+struct ParameterAdapter<const M&>
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef const M& Parameter;
+  static const bool is_const = true;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return *event.getMessage();
+  }
+};
+
+template<typename M>
+struct ParameterAdapter<boost::shared_ptr<M const> >
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef boost::shared_ptr<Message const> Parameter;
+  static const bool is_const = true;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return event.getMessage();
+  }
+};
+
+template<typename M>
+struct ParameterAdapter<boost::shared_ptr<M> >
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef boost::shared_ptr<Message> Parameter;
+  static const bool is_const = false;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return ros::MessageEvent<Message>(event).getMessage();
+  }
+};
+
+template<typename M>
+struct ParameterAdapter<const ros::MessageEvent<M const>& >
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef const ros::MessageEvent<Message const>& Parameter;
+  static const bool is_const = true;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return event;
+  }
+};
+
+template<typename M>
+struct ParameterAdapter<const ros::MessageEvent<M>& >
+{
+  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
+  typedef ros::MessageEvent<Message const> Event;
+  typedef ros::MessageEvent<Message> Parameter;
+  static const bool is_const = false;
+
+  static Parameter getParameter(const Event& event)
+  {
+    return ros::MessageEvent<Message>(event);
+  }
+};
+
+}
+
+#endif // ROSCPP_PARAMETER_ADAPTER_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/poll_manager.h

@@ -0,0 +1,77 @@
+/*
+ * 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 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_POLL_MANAGER_H
+#define ROSCPP_POLL_MANAGER_H
+
+#include "forwards.h"
+#include "poll_set.h"
+#include "common.h"
+
+#include <boost/signals2.hpp>
+
+#include <boost/thread/recursive_mutex.hpp>
+#include <boost/thread/thread.hpp>
+
+namespace ros
+{
+
+class PollManager;
+typedef boost::shared_ptr<PollManager> PollManagerPtr;
+typedef boost::signals2::signal<void(void)> VoidSignal;
+typedef boost::function<void(void)> VoidFunc;
+
+class ROSCPP_DECL PollManager
+{
+public:
+  static const PollManagerPtr& instance();
+
+  PollManager();
+  ~PollManager();
+
+  PollSet& getPollSet() { return poll_set_; }
+
+  boost::signals2::connection addPollThreadListener(const VoidFunc& func);
+  void removePollThreadListener(boost::signals2::connection c);
+
+  void start();
+  void shutdown();
+private:
+  void threadFunc();
+
+  PollSet poll_set_;
+  volatile bool shutting_down_;
+
+  VoidSignal poll_signal_;
+  boost::recursive_mutex signal_mutex_;
+
+  boost::thread thread_;
+};
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/poll_set.h

@@ -0,0 +1,156 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 ROSCPP_POLL_SET_H
+#define ROSCPP_POLL_SET_H
+
+#include <vector>
+#include "io.h"
+#include "common.h"
+#include <boost/shared_ptr.hpp>
+#include <boost/function.hpp>
+#include <boost/thread/mutex.hpp>
+
+namespace ros
+{
+
+class Transport;
+typedef boost::shared_ptr<Transport> TransportPtr;
+
+/**
+ * \brief Manages a set of sockets being polled through the poll() function call.
+ *
+ * PollSet provides thread-safe ways of adding and deleting sockets, as well as adding
+ * and deleting events.
+ */
+class ROSCPP_DECL PollSet
+{
+public:
+  PollSet();
+  ~PollSet();
+
+  typedef boost::function<void(int)> SocketUpdateFunc;
+  /**
+   * \brief Add a socket.
+   *
+   * addSocket() may be called from any thread.
+   * \param sock The socket to add
+   * \param update_func The function to call when a socket has events
+   * \param transport The (optional) transport associated with this socket. Mainly
+   * used to prevent the transport from being deleted while we're calling the update function
+   */
+  bool addSocket(int sock, const SocketUpdateFunc& update_func, const TransportPtr& transport = TransportPtr());
+  /**
+   * \brief Delete a socket
+   *
+   * delSocket() may be called from any thread.
+   * \param sock The socket to delete
+   */
+  bool delSocket(int sock);
+
+  /**
+   * \brief Add events to be polled on a socket
+   *
+   * addEvents() may be called from any thread.
+   * \param sock The socket to add events to
+   * \param events The events to add
+   */
+  bool addEvents(int sock, int events);
+  /**
+   * \brief Delete events to be polled on a socket
+   *
+   * delEvents() may be called from any thread.
+   * \param sock The socket to delete events from
+   * \param events The events to delete
+   */
+  bool delEvents(int sock, int events);
+
+  /**
+   * \brief Process all socket events
+   *
+   * This function will actually call poll() on the available sockets, and allow
+   * them to do their processing.
+   *
+   * update() may only be called from one thread at a time
+   *
+   * \param poll_timeout The time, in milliseconds, for the poll() call to timeout after
+   * if there are no events.  Note that this does not provide an upper bound for the entire
+   * function, just the call to poll()
+   */
+  void update(int poll_timeout);
+
+  /**
+   * \brief Signal our poll() call to finish if it's blocked waiting (see the poll_timeout
+   * option for update()).
+   */
+  void signal();
+
+private:
+  /**
+   * \brief Creates the native pollset for our sockets, if any have changed
+   */
+  void createNativePollset();
+
+  /**
+   * \brief Called when events have been triggered on our signal pipe
+   */
+  void onLocalPipeEvents(int events);
+
+  struct SocketInfo
+  {
+    TransportPtr transport_;
+    SocketUpdateFunc func_;
+    int fd_;
+    int events_;
+  };
+  typedef std::map<int, SocketInfo> M_SocketInfo;
+  M_SocketInfo socket_info_;
+  boost::mutex socket_info_mutex_;
+  bool sockets_changed_;
+
+  boost::mutex just_deleted_mutex_;
+  typedef std::vector<int> V_int;
+  V_int just_deleted_;
+
+  std::vector<socket_pollfd> ufds_;
+
+  boost::mutex signal_mutex_;
+  signal_fd_t signal_pipe_[2];
+
+  int epfd_;
+};
+
+}
+
+#endif // ROSCPP_POLL_SET_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/publication.h

@@ -0,0 +1,192 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_PUBLICATION_H
+#define ROSCPP_PUBLICATION_H
+
+#include "ros/forwards.h"
+#include "ros/advertise_options.h"
+#include "common.h"
+#include "xmlrpcpp/XmlRpc.h"
+
+#include <boost/thread/mutex.hpp>
+
+#include <boost/shared_ptr.hpp>
+#include <boost/shared_array.hpp>
+
+#include <vector>
+
+namespace ros
+{
+
+class SubscriberLink;
+typedef boost::shared_ptr<SubscriberLink> SubscriberLinkPtr;
+typedef std::vector<SubscriberLinkPtr> V_SubscriberLink;
+
+/**
+ * \brief A Publication manages an advertised topic
+ */
+class ROSCPP_DECL Publication
+{
+public:
+  Publication(const std::string &name,
+            const std::string& datatype,
+            const std::string& _md5sum,
+            const std::string& message_definition,
+            size_t max_queue,
+            bool latch,
+            bool has_header);
+
+  ~Publication();
+
+  void addCallbacks(const SubscriberCallbacksPtr& callbacks);
+  void removeCallbacks(const SubscriberCallbacksPtr& callbacks);
+
+  /**
+   * \brief queues an outgoing message into each of the publishers, so that it gets sent to every subscriber
+   */
+  bool enqueueMessage(const SerializedMessage& m);
+  /**
+   * \brief returns the max queue size of this publication
+   */
+  inline size_t getMaxQueue() { return max_queue_; }
+  /**
+   * \brief Get the accumulated stats for this publication
+   */
+  XmlRpc::XmlRpcValue getStats();
+  /**
+   * \brief Get the accumulated info for this publication
+   */
+  void getInfo(XmlRpc::XmlRpcValue& info);
+
+  /**
+   * \brief Returns whether or not this publication has any subscribers
+   */
+  bool hasSubscribers();
+  /**
+   * \brief Returns the number of subscribers this publication has
+   */
+  uint32_t getNumSubscribers();
+
+  void getPublishTypes(bool& serialize, bool& nocopy, const std::type_info& ti);
+
+  /**
+   * \brief Returns the name of the topic this publication broadcasts to
+   */
+  const std::string& getName() const { return name_; }
+  /**
+   * \brief Returns the data type of the message published by this publication
+   */
+  const std::string& getDataType() const { return datatype_; }
+  /**
+   * \brief Returns the md5sum of the message published by this publication
+   */
+  const std::string& getMD5Sum() const { return md5sum_; }
+  /**
+   * \brief Returns the full definition of the message published by this publication
+   */
+  const std::string& getMessageDefinition() const { return message_definition_; }
+  /**
+   * \brief Returns the sequence number
+   */
+  uint32_t getSequence() { return seq_; }
+
+  bool isLatched() { return latch_; }
+
+  /**
+   * \brief Adds a publisher to our list
+   */
+  void addSubscriberLink(const SubscriberLinkPtr& sub_link);
+  /**
+   * \brief Removes a publisher from our list (deleting it if it's the last reference)
+   */
+  void removeSubscriberLink(const SubscriberLinkPtr& sub_link);
+
+  /**
+   * \brief Drop this publication.  Disconnects all publishers.
+   */
+  void drop();
+  /**
+   * \brief Returns if this publication is valid or not
+   */
+  bool isDropped() { return dropped_; }
+
+  uint32_t incrementSequence();
+
+  size_t getNumCallbacks();
+
+  bool isLatching() { return latch_; }
+
+  void publish(SerializedMessage& m);
+  void processPublishQueue();
+
+  bool validateHeader(const Header& h, std::string& error_msg);
+
+private:
+  void dropAllConnections();
+
+  /**
+   * \brief Called when a new peer has connected. Calls the connection callback
+   */
+  void peerConnect(const SubscriberLinkPtr& sub_link);
+  /**
+   * \brief Called when a peer has disconnected. Calls the disconnection callback
+   */
+  void peerDisconnect(const SubscriberLinkPtr& sub_link);
+
+  std::string name_;
+  std::string datatype_;
+  std::string md5sum_;
+  std::string message_definition_;
+  size_t max_queue_;
+  uint32_t seq_;
+  boost::mutex seq_mutex_;
+
+  typedef std::vector<SubscriberCallbacksPtr> V_Callback;
+  V_Callback callbacks_;
+  boost::mutex callbacks_mutex_;
+
+  V_SubscriberLink subscriber_links_;
+  // We use a recursive mutex here for the rare case that a publish call causes another one (like in the case of a rosconsole call)
+  boost::mutex subscriber_links_mutex_;
+
+  bool dropped_;
+
+  bool latch_;
+  bool has_header_;
+  SerializedMessage last_message_;
+
+  uint32_t intraprocess_subscriber_count_;
+
+  typedef std::vector<SerializedMessage> V_SerializedMessage;
+  V_SerializedMessage publish_queue_;
+  boost::mutex publish_queue_mutex_;
+};
+
+}
+
+#endif // ROSCPP_PUBLICATION_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/publisher.h

@@ -0,0 +1,203 @@
+/*
+ * 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_PUBLISHER_HANDLE_H
+#define ROSCPP_PUBLISHER_HANDLE_H
+
+#include "ros/forwards.h"
+#include "ros/common.h"
+#include "ros/message.h"
+#include "ros/serialization.h"
+#include <boost/bind.hpp>
+
+namespace ros
+{
+  /**
+   * \brief Manages an advertisement on a specific topic.
+   *
+   * A Publisher should always be created through a call to NodeHandle::advertise(), or copied from one
+   * that was. Once all copies of a specific
+   * Publisher go out of scope, any subscriber status callbacks associated with that handle will stop
+   * being called.  Once all Publishers for a given topic go out of scope the topic will be unadvertised.
+   */
+  class ROSCPP_DECL Publisher
+  {
+  public:
+    Publisher() {}
+    Publisher(const Publisher& rhs);
+    ~Publisher();
+
+    /**
+     * \brief Publish a message on the topic associated with this Publisher.
+     *
+     * This version of publish will allow fast intra-process message-passing in the future,
+     * so you may not mutate the message after it has been passed in here (since it will be
+     * passed directly into a callback function)
+     *
+     */
+    template <typename M>
+      void publish(const boost::shared_ptr<M>& message) const
+    {
+      using namespace serialization;
+
+      if (!impl_)
+        {
+          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher");
+          return;
+        }
+
+      if (!impl_->isValid())
+        {
+          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
+          return;
+        }
+
+      ROS_ASSERT_MSG(impl_->md5sum_ == "*" || std::string(mt::md5sum<M>(*message)) == "*" || impl_->md5sum_ == mt::md5sum<M>(*message),
+                     "Trying to publish message of type [%s/%s] on a publisher with type [%s/%s]",
+                     mt::datatype<M>(*message), mt::md5sum<M>(*message),
+                     impl_->datatype_.c_str(), impl_->md5sum_.c_str());
+
+      SerializedMessage m;
+      m.type_info = &typeid(M);
+      m.message = message;
+
+      publish(boost::bind(serializeMessage<M>, boost::ref(*message)), m);
+    }
+
+    /**
+     * \brief Publish a message on the topic associated with this Publisher.
+     */
+    template <typename M>
+      void publish(const M& message) const
+    {
+      using namespace serialization;
+      namespace mt = ros::message_traits;
+
+      if (!impl_)
+        {
+          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher");
+          return;
+        }
+
+      if (!impl_->isValid())
+        {
+          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
+          return;
+        }
+
+      ROS_ASSERT_MSG(impl_->md5sum_ == "*" || std::string(mt::md5sum<M>(message)) == "*" || impl_->md5sum_ == mt::md5sum<M>(message),
+                     "Trying to publish message of type [%s/%s] on a publisher with type [%s/%s]",
+                     mt::datatype<M>(message), mt::md5sum<M>(message),
+                     impl_->datatype_.c_str(), impl_->md5sum_.c_str());
+
+      SerializedMessage m;
+      publish(boost::bind(serializeMessage<M>, boost::ref(message)), m);
+    }
+
+    /**
+     * \brief Shutdown the advertisement associated with this Publisher
+     *
+     * This method usually does not need to be explicitly called, as automatic shutdown happens when
+     * all copies of this Publisher go out of scope
+     *
+     * This method overrides the automatic reference counted unadvertise, and does so immediately.
+     * \note Note that if multiple advertisements were made through NodeHandle::advertise(), this will
+     * only remove the one associated with this Publisher
+     */
+    void shutdown();
+
+    /**
+     * \brief Returns the topic that this Publisher will publish on.
+     */
+    std::string getTopic() const;
+
+    /**
+     * \brief Returns the number of subscribers that are currently connected to this Publisher
+     */
+    uint32_t getNumSubscribers() const;
+
+    /**
+     * \brief Returns whether or not this topic is latched
+     */
+    bool isLatched() const;
+
+    operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
+
+    bool operator<(const Publisher& rhs) const
+    {
+      return impl_ < rhs.impl_;
+    }
+
+    bool operator==(const Publisher& rhs) const
+    {
+      return impl_ == rhs.impl_;
+    }
+
+    bool operator!=(const Publisher& rhs) const
+    {
+      return impl_ != rhs.impl_;
+    }
+
+  private:
+
+    Publisher(const std::string& topic, const std::string& md5sum, 
+              const std::string& datatype, const NodeHandle& node_handle, 
+              const SubscriberCallbacksPtr& callbacks);
+
+    void publish(const boost::function<SerializedMessage(void)>& serfunc, SerializedMessage& m) const;
+    void incrementSequence() const;
+
+    class ROSCPP_DECL Impl
+    {
+    public:
+      Impl();
+      ~Impl();
+
+      void unadvertise();
+      bool isValid() const;
+
+      std::string topic_;
+      std::string md5sum_;
+      std::string datatype_;
+      NodeHandlePtr node_handle_;
+      SubscriberCallbacksPtr callbacks_;
+      bool unadvertised_;
+    };
+    typedef boost::shared_ptr<Impl> ImplPtr;
+    typedef boost::weak_ptr<Impl> ImplWPtr;
+
+    ImplPtr impl_;
+
+    friend class NodeHandle;
+    friend class NodeHandleBackingCollection;
+  };
+
+  typedef std::vector<Publisher> V_Publisher;
+}
+
+#endif // ROSCPP_PUBLISHER_HANDLE_H
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/publisher_link.h

@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_PUBLISHER_LINK_H
+#define ROSCPP_PUBLISHER_LINK_H
+
+#include "ros/common.h"
+#include "ros/transport_hints.h"
+#include "ros/header.h"
+#include "common.h"
+#include <boost/thread/mutex.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/enable_shared_from_this.hpp>
+
+#include <queue>
+
+namespace ros
+{
+class Header;
+class Message;
+class Subscription;
+typedef boost::shared_ptr<Subscription> SubscriptionPtr;
+typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
+class Connection;
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+
+/**
+ * \brief Handles a connection to a single publisher on a given topic.  Receives messages from a publisher
+ * and hands them off to its parent Subscription
+ */
+class ROSCPP_DECL PublisherLink : public boost::enable_shared_from_this<PublisherLink>
+{
+public:
+  class Stats
+  {
+  public:
+    uint64_t bytes_received_, messages_received_, drops_;
+    Stats()
+    : bytes_received_(0), messages_received_(0), drops_(0) { }
+  };
+
+
+  PublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints);
+  virtual ~PublisherLink();
+
+  const Stats &getStats() { return stats_; }
+  const std::string& getPublisherXMLRPCURI();
+  int getConnectionID() const { return connection_id_; }
+  const std::string& getCallerID() { return caller_id_; }
+  bool isLatched() { return latched_; }
+
+  bool setHeader(const Header& header);
+
+  /**
+   * \brief Handles handing off a received message to the subscription, where it will be deserialized and called back
+   */
+  virtual void handleMessage(const SerializedMessage& m, bool ser, bool nocopy) = 0;
+  virtual std::string getTransportType() = 0;
+  virtual std::string getTransportInfo() = 0;
+  virtual void drop() = 0;
+
+  const std::string& getMD5Sum();
+
+protected:
+  SubscriptionWPtr parent_;
+  unsigned int connection_id_;
+  std::string publisher_xmlrpc_uri_;
+
+  Stats stats_;
+
+  TransportHints transport_hints_;
+
+  bool latched_;
+  std::string caller_id_;
+  Header header_;
+  std::string md5sum_;
+};
+
+} // namespace ros
+
+#endif // ROSCPP_PUBLISHER_LINK_H
+
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/ros.h

@@ -0,0 +1,58 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  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 ROSCPP_ROS_H
+#define ROSCPP_ROS_H
+
+#include "ros/time.h"
+#include "ros/rate.h"
+#include "ros/console.h"
+#include "ros/assert.h"
+
+#include "ros/common.h"
+#include "ros/types.h"
+#include "ros/node_handle.h"
+#include "ros/publisher.h"
+#include "ros/single_subscriber_publisher.h"
+#include "ros/service_server.h"
+#include "ros/subscriber.h"
+#include "ros/service.h"
+#include "ros/init.h"
+#include "ros/master.h"
+#include "ros/this_node.h"
+#include "ros/param.h"
+#include "ros/topic.h"
+#include "ros/names.h"
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/roscpp.dox

@@ -0,0 +1,20 @@
+/**
+@mainpage roscpp
+
+@htmlinclude manifest.html
+
+\b roscpp is a ROS client implementation in C++.  The main parts of \b roscpp are:
+
+ - \ref ros::init() : A version of ros::init() must be called before using any of the rest of the ROS system.
+ - \ref ros::NodeHandle : Public interface to topics, services, parameters, etc.
+ - \ref ros::master : Contains functions for querying information from the master
+ - \ref ros::this_node : Contains functions for querying information about this process' node
+ - \ref ros::service : Contains functions for querying information about services
+ - \ref ros::param : Contains functions for querying the parameter service without the need for a ros::NodeHandle
+ - \ref ros::names : Contains functions for manipulating ROS graph resource names
+
+@par Examples
+
+Many examples of using ROS can be found <a href="http://www.ros.org/wiki/ROS/Tutorials">on the wiki</a> and in the <a href="http://www.ros.org/wiki/roscpp_tutorials">roscpp_tutorials</a> package.
+
+*/

thirdparty/ros/ros_comm/clients/roscpp/include/ros/rosout_appender.h

@@ -0,0 +1,84 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 ROSCPP_ROSOUT_APPENDER_H
+#define ROSCPP_ROSOUT_APPENDER_H
+
+#include <ros/message_forward.h>
+#include "common.h"
+
+#include <boost/shared_ptr.hpp>
+#include <boost/weak_ptr.hpp>
+
+#include <boost/thread.hpp>
+
+namespace rosgraph_msgs
+{
+ROS_DECLARE_MESSAGE(Log);
+}
+
+namespace ros
+{
+
+class Publication;
+typedef boost::shared_ptr<Publication> PublicationPtr;
+typedef boost::weak_ptr<Publication> PublicationWPtr;
+
+class ROSCPP_DECL ROSOutAppender : public ros::console::LogAppender
+{
+public:
+  ROSOutAppender();
+  ~ROSOutAppender();
+
+  const std::string& getLastError() const;
+
+  virtual void log(::ros::console::Level level, const char* str, const char* file, const char* function, int line);
+
+protected:
+  void logThread();
+
+  std::string last_error_;
+
+  typedef std::vector<rosgraph_msgs::LogPtr> V_Log;
+  V_Log log_queue_;
+  boost::mutex queue_mutex_;
+  boost::condition_variable queue_condition_;
+  bool shutting_down_;
+
+  boost::thread publish_thread_;
+};
+
+} // namespace ros
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service.h

@@ -0,0 +1,163 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_SERVICE_H
+#define ROSCPP_SERVICE_H
+
+#include <string>
+#include "ros/common.h"
+#include "ros/message.h"
+#include "ros/forwards.h"
+#include "ros/node_handle.h"
+#include "ros/service_traits.h"
+#include "ros/names.h"
+
+#include <boost/shared_ptr.hpp>
+
+namespace ros
+{
+
+class ServiceServerLink;
+typedef boost::shared_ptr<ServiceServerLink> ServiceServerLinkPtr;
+
+/**
+ * \brief Contains functions for querying information about and calling a service
+ */
+namespace service
+{
+
+/** @brief Invoke an RPC service.
+ *
+ * This method invokes an RPC service on a remote server, looking up the
+ * service location first via the master.
+ *
+ * @param service_name The name of the service.
+ * @param req The request message.
+ * @param[out] res Storage for the response message.
+ *
+ * @return true on success, false otherwise.
+ */
+template<class MReq, class MRes>
+bool call(const std::string& service_name, MReq& req, MRes& res)
+{
+  namespace st = service_traits;
+  NodeHandle nh;
+  ServiceClientOptions ops(ros::names::resolve(service_name), st::md5sum(req), false, M_string());
+  ServiceClient client = nh.serviceClient(ops);
+  return client.call(req, res);
+}
+
+/** @brief Invoke an RPC service.
+ *
+ * This method invokes an RPC service on a remote server, looking up the
+ * service location first via the master.
+ *
+ * @param service_name The name of the service.
+ * @param service The service class that contains the request and response messages
+ *
+ * @return true on success, false otherwise.
+ */
+template<class Service>
+bool call(const std::string& service_name, Service& service)
+{
+  namespace st = service_traits;
+
+  NodeHandle nh;
+  ServiceClientOptions ops(ros::names::resolve(service_name), st::md5sum(service), false, M_string());
+  ServiceClient client = nh.serviceClient(ops);
+  return client.call(service.request, service.response);
+}
+
+/**
+ * \brief Wait for a service to be advertised and available.  Blocks until it is.
+ * \param service_name Name of the service to wait for.
+ * \param timeout The amount of time to wait for, in milliseconds.  If timeout is -1,
+ * waits until the node is shutdown
+ * \return true on success, false otherwise
+ */
+ROSCPP_DECL bool waitForService(const std::string& service_name, int32_t timeout);
+
+/**
+ * \brief Wait for a service to be advertised and available.  Blocks until it is.
+ * \param service_name Name of the service to wait for.
+ * \param timeout The amount of time to wait for before timing out.  If timeout is -1 (default),
+ * waits until the node is shutdown
+ * \return true on success, false otherwise
+ */
+ROSCPP_DECL bool waitForService(const std::string& service_name, ros::Duration timeout = ros::Duration(-1));
+
+/**
+ * \brief Checks if a service is both advertised and available.
+ * \param service_name Name of the service to check for
+ * \param print_failure_reason Whether to print the reason for failure to the console (service not advertised vs.
+ * could not connect to the advertised host)
+ * \return true if the service is up and available, false otherwise
+ */
+ROSCPP_DECL bool exists(const std::string& service_name, bool print_failure_reason);
+
+/** @brief Create a client for a service.
+ *
+ * When the last handle reference of a persistent connection is cleared, the connection will automatically close.
+ *
+ * @param service_name The name of the service to connect to
+ * @param persistent Whether this connection should persist.  Persistent services keep the connection to the remote host active
+ *        so that subsequent calls will happen faster.  In general persistent services are discouraged, as they are not as
+ *        robust to node failure as non-persistent services.
+ * @param header_values Key/value pairs you'd like to send along in the connection handshake
+ */
+template<class MReq, class MRes>
+ServiceClient createClient(const std::string& service_name, bool persistent = false, const M_string& header_values = M_string())
+{
+  NodeHandle nh;
+  ServiceClient client = nh.template serviceClient<MReq, MRes>(ros::names::resolve(service_name), persistent, header_values);
+  return client;
+}
+
+/** @brief Create a client for a service.
+ *
+ * When the last handle reference of a persistent connection is cleared, the connection will automatically close.
+ *
+ * @param service_name The name of the service to connect to
+ * @param persistent Whether this connection should persist.  Persistent services keep the connection to the remote host active
+ *        so that subsequent calls will happen faster.  In general persistent services are discouraged, as they are not as
+ *        robust to node failure as non-persistent services.
+ * @param header_values Key/value pairs you'd like to send along in the connection handshake
+ */
+template<class Service>
+ServiceClient createClient(const std::string& service_name, bool persistent = false, const M_string& header_values = M_string())
+{
+  NodeHandle nh;
+  ServiceClient client = nh.template serviceClient<Service>(ros::names::resolve(service_name), persistent, header_values);
+  return client;
+}
+
+}
+
+}
+
+#endif // ROSCPP_SERVICE_H
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_callback_helper.h

@@ -0,0 +1,195 @@
+/*
+ * 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_SERVICE_MESSAGE_HELPER_H
+#define ROSCPP_SERVICE_MESSAGE_HELPER_H
+
+#include "ros/forwards.h"
+#include "ros/common.h"
+#include "ros/message.h"
+#include "ros/message_traits.h"
+#include "ros/service_traits.h"
+#include "ros/serialization.h"
+
+#include <boost/type_traits/is_base_of.hpp>
+#include <boost/utility/enable_if.hpp>
+
+namespace ros
+{
+struct ROSCPP_DECL ServiceCallbackHelperCallParams
+{
+  SerializedMessage request;
+  SerializedMessage response;
+  boost::shared_ptr<M_string> connection_header;
+};
+
+template<typename M>
+inline boost::shared_ptr<M> defaultServiceCreateFunction()
+{
+  return boost::make_shared<M>();
+}
+
+template<typename MReq, typename MRes>
+struct ServiceSpecCallParams
+{
+  boost::shared_ptr<MReq> request;
+  boost::shared_ptr<MRes> response;
+  boost::shared_ptr<M_string> connection_header;
+};
+
+/**
+ * \brief Event type for services, ros::ServiceEvent<MReq, MRes>& can be used in your callback instead of MReq&, MRes&
+ *
+ * Useful if you need to retrieve meta-data about the call, such as the full connection header, or the caller's node name
+ */
+template<typename MReq, typename MRes>
+class ServiceEvent
+{
+public:
+  typedef MReq RequestType;
+  typedef MRes ResponseType;
+  typedef boost::shared_ptr<RequestType> RequestPtr;
+  typedef boost::shared_ptr<ResponseType> ResponsePtr;
+  typedef boost::function<bool(ServiceEvent<RequestType, ResponseType>&)> CallbackType;
+
+  static bool call(const CallbackType& cb, ServiceSpecCallParams<RequestType, ResponseType>& params)
+  {
+    ServiceEvent<RequestType, ResponseType> event(params.request, params.response, params.connection_header);
+    return cb(event);
+  }
+
+  ServiceEvent(const boost::shared_ptr<MReq const>& req, const boost::shared_ptr<MRes>& res, const boost::shared_ptr<M_string>& connection_header)
+  : request_(req)
+  , response_(res)
+  , connection_header_(connection_header)
+  {}
+
+  /**
+   * \brief Returns a const-reference to the request
+   */
+  const RequestType& getRequest() const { return *request_; }
+  /**
+   * \brief Returns a non-const reference to the response
+   */
+  ResponseType& getResponse() const { return *response_; }
+  /**
+   * \brief Returns a reference to the connection header.
+   */
+  M_string& getConnectionHeader() const { return *connection_header_; }
+
+  /**
+   * \brief Returns the name of the node which called this service
+   */
+  const std::string& getCallerName() const { return (*connection_header_)["callerid"]; }
+private:
+  boost::shared_ptr<RequestType const> request_;
+  boost::shared_ptr<ResponseType> response_;
+  boost::shared_ptr<M_string> connection_header_;
+};
+
+template<typename MReq, typename MRes>
+struct ServiceSpec
+{
+  typedef MReq RequestType;
+  typedef MRes ResponseType;
+  typedef boost::shared_ptr<RequestType> RequestPtr;
+  typedef boost::shared_ptr<ResponseType> ResponsePtr;
+  typedef boost::function<bool(RequestType&, ResponseType&)> CallbackType;
+
+  static bool call(const CallbackType& cb, ServiceSpecCallParams<RequestType, ResponseType>& params)
+  {
+    return cb(*params.request, *params.response);
+  }
+};
+
+/**
+ * \brief Abstract base class used by service servers to deal with concrete message types through a common
+ * interface.  This is one part of the roscpp API that is \b not fully stable, so overloading this class
+ * is not recommended
+ */
+class ROSCPP_DECL ServiceCallbackHelper
+{
+public:
+  virtual ~ServiceCallbackHelper() {}
+  virtual bool call(ServiceCallbackHelperCallParams& params) = 0;
+};
+typedef boost::shared_ptr<ServiceCallbackHelper> ServiceCallbackHelperPtr;
+
+/**
+ * \brief Concrete generic implementation of ServiceCallbackHelper for any normal service type
+ */
+template<typename Spec>
+class ServiceCallbackHelperT : public ServiceCallbackHelper
+{
+public:
+  typedef typename Spec::RequestType RequestType;
+  typedef typename Spec::ResponseType ResponseType;
+  typedef typename Spec::RequestPtr RequestPtr;
+  typedef typename Spec::ResponsePtr ResponsePtr;
+  typedef typename Spec::CallbackType Callback;
+  typedef boost::function<RequestPtr()> ReqCreateFunction;
+  typedef boost::function<ResponsePtr()> ResCreateFunction;
+
+  ServiceCallbackHelperT(const Callback& callback, 
+                         const ReqCreateFunction& create_req = 
+                         // these static casts are legally unnecessary, but
+                         // here to keep clang 2.8 from getting confused
+                         static_cast<RequestPtr(*)()>(defaultServiceCreateFunction<RequestType>), 
+                         const ResCreateFunction& create_res = 
+                         static_cast<ResponsePtr(*)()>(defaultServiceCreateFunction<ResponseType>))
+  : callback_(callback)
+  , create_req_(create_req)
+  , create_res_(create_res)
+  {
+  }
+
+  virtual bool call(ServiceCallbackHelperCallParams& params)
+  {
+    namespace ser = serialization;
+    RequestPtr req(create_req_());
+    ResponsePtr res(create_res_());
+
+    ser::deserializeMessage(params.request, *req);
+
+    ServiceSpecCallParams<RequestType, ResponseType> call_params;
+    call_params.request = req;
+    call_params.response = res;
+    call_params.connection_header = params.connection_header;
+    bool ok = Spec::call(callback_, call_params);
+    params.response = ser::serializeServiceResponse(ok, *res);
+    return ok;
+  }
+
+private:
+  Callback callback_;
+  ReqCreateFunction create_req_;
+  ResCreateFunction create_res_;
+};
+
+}
+
+#endif // ROSCPP_SERVICE_MESSAGE_HELPER_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_client.h

@@ -0,0 +1,215 @@
+/*
+ * 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_SERVICE_CLIENT_H
+#define ROSCPP_SERVICE_CLIENT_H
+
+#include "ros/forwards.h"
+#include "ros/common.h"
+#include "ros/service_traits.h"
+#include "ros/serialization.h"
+
+namespace ros
+{
+
+/**
+ * @brief Provides a handle-based interface to service client connections
+ */
+class ROSCPP_DECL ServiceClient
+{
+public:
+  ServiceClient() {}
+  ServiceClient(const std::string& service_name, bool persistent, const M_string& header_values, const std::string& service_md5sum);
+  ServiceClient(const ServiceClient& rhs);
+  ~ServiceClient();
+
+  /**
+   * @brief Call the service aliased by this handle with the specified request/response messages.
+   * @note The request/response message types must match the types specified in the templated call to NodeHandle::serviceClient()/service::createClient()
+   */
+  template<class MReq, class MRes>
+  bool call(MReq& req, MRes& res)
+  {
+    namespace st = service_traits;
+
+    if (!isValid())
+    {
+      return false;
+    }
+
+    if (strcmp(st::md5sum(req), st::md5sum(res)))
+    {
+      ROS_ERROR("The request and response parameters to the service "
+                 "call must be autogenerated from the same "
+                 "server definition file (.srv). your service call "
+                 "for %s appeared to use request/response types "
+                 "from different .srv files. (%s vs. %s)", impl_->name_.c_str(), st::md5sum(req), st::md5sum(res));
+      return false;
+    }
+
+    return call(req, res, st::md5sum(req));
+  }
+
+  /**
+   * @brief Call the service aliased by this handle with the specified service request/response
+   */
+  template<class Service>
+  bool call(Service& service)
+  {
+    namespace st = service_traits;
+
+    if (!isValid())
+    {
+      return false;
+    }
+
+    return call(service.request, service.response, st::md5sum(service));
+  }
+
+  /**
+   * \brief Mostly for internal use, the other templated versions of call() just call into this one
+   */
+  template<typename MReq, typename MRes>
+  bool call(const MReq& req, MRes& resp, const std::string& service_md5sum)
+  {
+    namespace ser = serialization;
+    SerializedMessage ser_req = ser::serializeMessage(req);
+    SerializedMessage ser_resp;
+    bool ok = call(ser_req, ser_resp, service_md5sum);
+    if (!ok)
+    {
+      return false;
+    }
+
+    try
+    {
+      ser::deserializeMessage(ser_resp, resp);
+    }
+    catch (std::exception& e)
+    {
+      deserializeFailed(e);
+      return false;
+    }
+
+    return true;
+  }
+
+  bool call(const SerializedMessage& req, SerializedMessage& resp, const std::string& service_md5sum);
+
+  /**
+   * \brief Returns whether or not this handle is valid.  For a persistent service, this becomes false when the connection has dropped.
+   * Non-persistent service handles are always valid.
+   */
+  bool isValid() const;
+
+  /**
+   * \brief Returns true if this handle points to a persistent service, false otherwise.
+   */
+  bool isPersistent() const;
+
+  /**
+   * \brief Shutdown the connection associated with this ServiceClient
+   *
+   * This method usually does not need to be explicitly called, as automatic shutdown happens when
+   * all copies of this ServiceClient go out of scope
+   *
+   * This method overrides the automatic reference counted shutdown, and does so immediately.
+   */
+  void shutdown();
+
+  /**
+   * \brief Wait for this service to be advertised and available.  Blocks until it is.
+   * \param timeout The amount of time to wait for before timing out.  If timeout is -1 (default),
+   * waits until the node is shutdown
+   * \return true on success, false otherwise
+   */
+  bool waitForExistence(ros::Duration timeout = ros::Duration(-1));
+
+  /**
+   * \brief Checks if this is both advertised and available.
+   * \return true if the service is up and available, false otherwise
+   */
+  bool exists();
+
+  /**
+   * \brief Returns the name of the service this ServiceClient connects to
+   */
+  std::string getService();
+
+  operator void*() const { return isValid() ? (void*)1 : (void*)0; }
+  bool operator<(const ServiceClient& rhs) const
+  {
+    return impl_ < rhs.impl_;
+  }
+
+  bool operator==(const ServiceClient& rhs) const
+  {
+    return impl_ == rhs.impl_;
+  }
+
+  bool operator!=(const ServiceClient& rhs) const
+  {
+    return impl_ != rhs.impl_;
+  }
+
+private:
+  // This works around a problem with the OSX linker that causes the static variable declared by
+  // ROS_ERROR to error with missing symbols when it's used directly in the templated call() method above
+  // This for some reason only showed up in the rxtools package
+  void deserializeFailed(const std::exception& e)
+  {
+    ROS_ERROR("Exception thrown while while deserializing service call: %s", e.what());
+  }
+
+  struct Impl
+  {
+    Impl();
+    ~Impl();
+
+    void shutdown();
+    bool isValid() const;
+
+    ServiceServerLinkPtr server_link_;
+    std::string name_;
+    bool persistent_;
+    M_string header_values_;
+    std::string service_md5sum_;
+    bool is_shutdown_;
+  };
+  typedef boost::shared_ptr<Impl> ImplPtr;
+  typedef boost::weak_ptr<Impl> ImplWPtr;
+
+  ImplPtr impl_;
+
+  friend class NodeHandle;
+  friend class NodeHandleBackingCollection;
+};
+typedef boost::shared_ptr<ServiceClient> ServiceClientPtr;
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_client_link.h

@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_SERVICE_CLIENT_LINK_H
+#define ROSCPP_SERVICE_CLIENT_LINK_H
+
+#include "ros/common.h"
+
+#include <boost/thread/mutex.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/enable_shared_from_this.hpp>
+#include <boost/signals2/connection.hpp>
+
+#include <queue>
+
+namespace ros
+{
+class Header;
+class ServicePublication;
+typedef boost::weak_ptr<ServicePublication> ServicePublicationWPtr;
+typedef boost::shared_ptr<ServicePublication> ServicePublicationPtr;
+class Connection;
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+
+/**
+ * \brief Handles a connection to a single incoming service client.
+ */
+class ROSCPP_DECL ServiceClientLink : public boost::enable_shared_from_this<ServiceClientLink>
+{
+public:
+  ServiceClientLink();
+  virtual ~ServiceClientLink();
+
+  //
+  bool initialize(const ConnectionPtr& connection);
+  bool handleHeader(const Header& header);
+
+  /**
+   * \brief Writes a response to the current request.
+   * \param ok Whether the callback was successful or not
+   * \param resp The message response.  ServiceClientLink will delete this
+   */
+  void processResponse(bool ok, const SerializedMessage& res);
+
+  const ConnectionPtr& getConnection() { return connection_; }
+
+private:
+  void onConnectionDropped(const ConnectionPtr& conn);
+
+  void onHeaderWritten(const ConnectionPtr& conn);
+  void onRequestLength(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+  void onRequest(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+  void onResponseWritten(const ConnectionPtr& conn);
+
+  ConnectionPtr connection_;
+  ServicePublicationWPtr parent_;
+  bool persistent_;
+  boost::signals2::connection dropped_conn_;
+};
+typedef boost::shared_ptr<ServiceClientLink> ServiceClientLinkPtr;
+
+} // namespace ros
+
+#endif // ROSCPP_PUBLISHER_DATA_HANDLER_H
+
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_client_options.h

@@ -0,0 +1,109 @@
+/*
+ * 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_SERVICE_CLIENT_OPTIONS_H
+#define ROSCPP_SERVICE_CLIENT_OPTIONS_H
+
+#include "ros/forwards.h"
+#include "common.h"
+#include "ros/service_traits.h"
+
+namespace ros
+{
+
+/**
+ * \brief Encapsulates all options available for creating a ServiceClient
+ */
+struct ROSCPP_DECL ServiceClientOptions
+{
+  ServiceClientOptions()
+  : persistent(false)
+  {
+  }
+
+  /*
+   * \brief Constructor
+   * \param _service Name of the service to connect to
+   * \param _md5sum md5sum of the service
+   * \param _persistent Whether or not to keep the connection open to the service for future calls
+   * \param _header Any extra values to be passed along in the connection header
+   */
+  ServiceClientOptions(const std::string& _service, const std::string& _md5sum, bool _persistent, const M_string& _header)
+  : service(_service)
+  , md5sum(_md5sum)
+  , persistent(_persistent)
+  , header(_header)
+  {
+  }
+
+  /*
+   * \brief Templated helper method, preventing you from needing to manually get the service md5sum
+   * \param MReq [template] Request message type
+   * \param MRes [template] Response message type
+   * \param _service Name of the service to connect to
+   * \param _persistent Whether or not to keep the connection open to the service for future calls
+   * \param _header Any extra values to be passed along in the connection header
+   */
+  template <class MReq, class MRes>
+  void init(const std::string& _service, bool _persistent, const M_string& _header)
+  {
+    namespace st = service_traits;
+
+    service = _service;
+    md5sum = st::md5sum<MReq>();
+    persistent = _persistent;
+    header = _header;
+  }
+
+  /*
+   * \brief Templated helper method, preventing you from needing to manually get the service md5sum
+   * \param Service [template] Service type
+   * \param _service Name of the service to connect to
+   * \param _persistent Whether or not to keep the connection open to the service for future calls
+   * \param _header Any extra values to be passed along in the connection header
+   */
+  template <class Service>
+  void init(const std::string& _service, bool _persistent, const M_string& _header)
+  {
+    namespace st = service_traits;
+
+    service = _service;
+    md5sum = st::md5sum<Service>();
+    persistent = _persistent;
+    header = _header;
+  }
+
+  std::string service;                                                      ///< Service to connect to
+  std::string md5sum;                                                       ///< Service md5sum
+  bool persistent;                                                          ///< Whether or not the connection should persist
+  M_string header;                                                          ///< Extra key/value pairs to add to the connection header
+};
+
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_manager.h

@@ -0,0 +1,145 @@
+/*
+ * 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 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_SERVICE_MANAGER_H
+#define ROSCPP_SERVICE_MANAGER_H
+
+#include "forwards.h"
+#include "common.h"
+#include "advertise_service_options.h"
+#include "service_client_options.h"
+
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/recursive_mutex.hpp>
+
+namespace ros
+{
+
+class ServiceManager;
+typedef boost::shared_ptr<ServiceManager> ServiceManagerPtr;
+
+class PollManager;
+typedef boost::shared_ptr<PollManager> PollManagerPtr;
+
+class XMLRPCManager;
+typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
+
+class ConnectionManager;
+typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
+
+class ROSCPP_DECL ServiceManager
+{
+public:
+  static const ServiceManagerPtr& instance();
+
+  ServiceManager();
+  ~ServiceManager();
+
+  /** @brief Lookup an advertised service.
+   *
+   * This method iterates over advertised_services, looking for one with name
+   * matching the given topic name.  The advertised_services_mutex is locked
+   * during this search.  This method is only used internally.
+   *
+   * @param service The service name to look for.
+   *
+   * @returns Pointer to the matching ServicePublication, NULL if none is found.
+   */
+  ServicePublicationPtr lookupServicePublication(const std::string& service);
+
+  /** @brief Create a new client to the specified service.  If a client to that service already exists, returns the existing one.
+   *
+   * @param service The service to connect to
+   * @param persistent Whether to keep this connection alive for more than one service call
+   * @param request_md5sum The md5sum of the request message
+   * @param response_md5sum The md5sum of the response message
+   *
+   * @returns Shared pointer to the ServiceServerLink, empty shared pointer if none is found.
+   */
+  ServiceServerLinkPtr createServiceServerLink(const std::string& service,
+                                                bool persistent,
+                                                const std::string& request_md5sum, const std::string& response_md5sum,
+                                                const M_string& header_values);
+
+  /** @brief Remove the specified service client from our list
+   *
+   * @param client The client to remove
+   */
+  void removeServiceServerLink(const ServiceServerLinkPtr& client);
+
+  /** @brief Lookup the host/port of a service.
+   *
+   * @param name The name of the service
+   * @param serv_host OUT -- The host of the service
+   * @param serv_port OUT -- The port of the service
+   */
+  bool lookupService(const std::string& name, std::string& serv_host, uint32_t& serv_port);
+
+  /** @brief Unadvertise a service.
+   *
+   * This call unadvertises a service, which must have been previously
+   * advertised, using advertiseService().
+   *
+   * After this call completes, it is guaranteed that no further
+   * callbacks will be invoked for this service.
+   *
+   * This method can be safely called from within a service callback.
+   *
+   * @param serv_name The service to be unadvertised.
+   *
+   * @return true on successful unadvertisement, false otherwise.
+   */
+  bool unadvertiseService(const std::string& serv_name);
+
+  bool advertiseService(const AdvertiseServiceOptions& ops);
+
+  void start();
+  void shutdown();
+private:
+
+  bool isServiceAdvertised(const std::string& serv_name);
+  bool unregisterService(const std::string& service);
+
+  bool isShuttingDown() { return shutting_down_; }
+
+  L_ServicePublication service_publications_;
+  boost::mutex service_publications_mutex_;
+
+  L_ServiceServerLink service_server_links_;
+  boost::mutex service_server_links_mutex_;
+
+  volatile bool shutting_down_;
+  boost::recursive_mutex shutting_down_mutex_;
+
+  PollManagerPtr poll_manager_;
+  ConnectionManagerPtr connection_manager_;
+  XMLRPCManagerPtr xmlrpc_manager_;
+};
+
+} // namespace ros
+
+#endif // ROSCPP_SERVICE_MANAGER_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_publication.h

@@ -0,0 +1,121 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_SERVICE_PUBLICATION_H
+#define ROSCPP_SERVICE_PUBLICATION_H
+
+#include "ros/service_callback_helper.h"
+#include "common.h"
+#include "xmlrpcpp/XmlRpc.h"
+
+#include <boost/thread/mutex.hpp>
+
+#include <boost/shared_ptr.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/thread.hpp>
+#include <boost/enable_shared_from_this.hpp>
+
+#include <vector>
+#include <queue>
+
+namespace ros
+{
+
+class ServiceClientLink;
+typedef boost::shared_ptr<ServiceClientLink> ServiceClientLinkPtr;
+typedef std::vector<ServiceClientLinkPtr> V_ServiceClientLink;
+class CallbackQueueInterface;
+
+class Message;
+
+/**
+ * \brief Manages an advertised service.
+ *
+ * ServicePublication manages all incoming service requests.  If its thread pool size is not 0, it will queue the requests
+ * into a number of threads, calling the callback from within those threads.  Otherwise it immediately calls the callback
+ */
+class ROSCPP_DECL ServicePublication : public boost::enable_shared_from_this<ServicePublication>
+{
+public:
+  ServicePublication(const std::string& name, const std::string &md5sum, const std::string& data_type, const std::string& request_data_type,
+                const std::string& response_data_type, const ServiceCallbackHelperPtr& helper, CallbackQueueInterface* queue,
+                const VoidConstPtr& tracked_object);
+  ~ServicePublication();
+
+  /**
+   * \brief Adds a request to the queue if our thread pool size is not 0, otherwise immediately calls the callback
+   */
+  void processRequest(boost::shared_array<uint8_t> buf, size_t num_bytes, const ServiceClientLinkPtr& link);
+
+  /**
+   * \brief Adds a service link for us to manage
+   */
+  void addServiceClientLink(const ServiceClientLinkPtr& link);
+  /**
+   * \brief Removes a service link from our list
+   */
+  void removeServiceClientLink(const ServiceClientLinkPtr& link);
+
+  /**
+   * \brief Terminate this service server
+   */
+  void drop();
+  /**
+   * \brief Returns whether or not this service server is valid
+   */
+  bool isDropped() { return dropped_; }
+
+  const std::string& getMD5Sum() { return md5sum_; }
+  const std::string& getRequestDataType() { return request_data_type_; }
+  const std::string& getResponseDataType() { return response_data_type_; }
+  const std::string& getDataType() { return data_type_; }
+  const std::string& getName() { return name_; }
+
+private:
+  void dropAllConnections();
+
+  std::string name_;
+  std::string md5sum_;
+  std::string data_type_;
+  std::string request_data_type_;
+  std::string response_data_type_;
+  ServiceCallbackHelperPtr helper_;
+
+  V_ServiceClientLink client_links_;
+  boost::mutex client_links_mutex_;
+
+  bool dropped_;
+
+  CallbackQueueInterface* callback_queue_;
+  bool has_tracked_object_;
+  VoidConstWPtr tracked_object_;
+};
+typedef boost::shared_ptr<ServicePublication> ServicePublicationPtr;
+
+}
+
+#endif // ROSCPP_SERVICE_PUBLICATION_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_server.h

@@ -0,0 +1,112 @@
+/*
+ * 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_SERVICE_HANDLE_H
+#define ROSCPP_SERVICE_HANDLE_H
+
+#include "ros/forwards.h"
+#include "common.h"
+
+namespace ros
+{
+
+/**
+ * \brief Manages an service advertisement.
+ *
+ * A ServiceServer should always be created through a call to NodeHandle::advertiseService(), or copied from
+ * one that was.  Once all copies of a specific
+ * ServiceServer go out of scope, the service associated with it will be unadvertised and the service callback
+ * will stop being called.
+ */
+class ROSCPP_DECL ServiceServer
+{
+public:
+  ServiceServer() {}
+  ServiceServer(const ServiceServer& rhs);
+  ~ServiceServer();
+
+  /**
+   * \brief Unadvertise the service associated with this ServiceServer
+   *
+   * This method usually does not need to be explicitly called, as automatic shutdown happens when
+   * all copies of this ServiceServer go out of scope
+   *
+   * This method overrides the automatic reference counted unadvertise, and immediately
+   * unadvertises the service associated with this ServiceServer
+   */
+  void shutdown();
+
+  std::string getService() const;
+
+  operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
+
+  bool operator<(const ServiceServer& rhs) const
+  {
+    return impl_ < rhs.impl_;
+  }
+
+  bool operator==(const ServiceServer& rhs) const
+  {
+    return impl_ == rhs.impl_;
+  }
+
+  bool operator!=(const ServiceServer& rhs) const
+  {
+    return impl_ != rhs.impl_;
+  }
+
+private:
+  ServiceServer(const std::string& service, const NodeHandle& node_handle);
+
+  class Impl
+  {
+  public:
+    Impl();
+    ~Impl();
+
+    void unadvertise();
+    bool isValid() const;
+
+    std::string service_;
+    NodeHandlePtr node_handle_;
+    bool unadvertised_;
+  };
+  typedef boost::shared_ptr<Impl> ImplPtr;
+  typedef boost::weak_ptr<Impl> ImplWPtr;
+
+  ImplPtr impl_;
+
+  friend class NodeHandle;
+  friend class NodeHandleBackingCollection;
+};
+typedef std::vector<ServiceServer> V_ServiceServer;
+
+}
+
+#endif // ROSCPP_SERVICE_HANDLE_H
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/service_server_link.h

@@ -0,0 +1,162 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 ROSCPP_SERVICE_SERVER_LINK_H
+#define ROSCPP_SERVICE_SERVER_LINK_H
+
+#include "ros/common.h"
+
+#include <boost/thread/mutex.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/enable_shared_from_this.hpp>
+#include <boost/thread.hpp>
+
+#include <queue>
+
+namespace ros
+{
+class Header;
+class Message;
+class Connection;
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+
+/**
+ * \brief Handles a connection to a service.  If it's a non-persistent client, automatically disconnects
+ * when its first service call has finished.
+ */
+class ROSCPP_DECL ServiceServerLink : public boost::enable_shared_from_this<ServiceServerLink>
+{
+private:
+  struct CallInfo
+  {
+    SerializedMessage req_;
+    SerializedMessage* resp_;
+
+    bool finished_;
+    boost::condition_variable finished_condition_;
+    boost::mutex finished_mutex_;
+    boost::thread::id caller_thread_id_;
+
+    bool success_;
+    bool call_finished_;
+
+    std::string exception_string_;
+  };
+  typedef boost::shared_ptr<CallInfo> CallInfoPtr;
+  typedef std::queue<CallInfoPtr> Q_CallInfo;
+
+public:
+  typedef std::map<std::string, std::string> M_string;
+  ServiceServerLink(const std::string& service_name, bool persistent, const std::string& request_md5sum, const std::string& response_md5sum, const M_string& header_values);
+  virtual ~ServiceServerLink();
+
+  //
+  bool initialize(const ConnectionPtr& connection);
+
+  /**
+   * \brief Returns whether this client is still valid, ie. its connection has not been dropped
+   */
+  bool isValid() const;
+  /**
+   * \brief Returns whether this is a persistent connection
+   */
+  bool isPersistent() const { return persistent_; }
+
+  const ConnectionPtr& getConnection() const { return connection_; }
+
+  const std::string& getServiceName() const { return service_name_; }
+  const std::string& getRequestMD5Sum() const { return request_md5sum_; }
+  const std::string& getResponseMD5Sum() const { return response_md5sum_; }
+
+  /**
+   * \brief Blocking call the service this client is connected to
+   *
+   * If there is already a call happening in another thread, this will queue up the call and still block until
+   * it has finished.
+   */
+  bool call(const SerializedMessage& req, SerializedMessage& resp);
+
+private:
+  void onConnectionDropped(const ConnectionPtr& conn);
+  bool onHeaderReceived(const ConnectionPtr& conn, const Header& header);
+
+  /**
+   * \brief Called when the currently queued call has finished.  Clears out the current call, notifying it that it
+   * has finished, then calls processNextCall()
+   */
+  void callFinished();
+  /**
+   * \brief Pops the next call off the queue if one is available.  If this is a non-persistent connection and the queue is empty
+   * it will also drop the connection.
+   */
+  void processNextCall();
+  /**
+   * \brief Clear all calls, notifying them that they've failed
+   */
+  void clearCalls();
+  /**
+   * \brief Cancel a queued call, notifying it that it has failed
+   */
+  void cancelCall(const CallInfoPtr& info);
+
+  void onHeaderWritten(const ConnectionPtr& conn);
+  void onRequestWritten(const ConnectionPtr& conn);
+  void onResponseOkAndLength(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+  void onResponse(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+
+  ConnectionPtr connection_;
+  std::string service_name_;
+  bool persistent_;
+  std::string request_md5sum_;
+  std::string response_md5sum_;
+
+  M_string extra_outgoing_header_values_;
+  bool header_written_;
+  bool header_read_;
+
+  Q_CallInfo call_queue_;
+  boost::mutex call_queue_mutex_;
+
+  CallInfoPtr current_call_;
+
+  bool dropped_;
+};
+typedef boost::shared_ptr<ServiceServerLink> ServiceServerLinkPtr;
+
+} // namespace ros
+
+#endif // ROSCPP_SERVICE_SERVER_LINK_H
+
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/single_subscriber_publisher.h

@@ -0,0 +1,107 @@
+/*
+ * 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_SINGLE_SUBSCRIBER_PUBLISHER_H
+#define ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H
+
+#include "ros/forwards.h"
+#include "ros/serialization.h"
+#include "common.h"
+
+#include <boost/utility.hpp>
+
+namespace ros
+{
+
+/**
+ * \brief Allows publication of a message to a single subscriber. Only available inside subscriber connection callbacks
+ */
+class ROSCPP_DECL SingleSubscriberPublisher : public boost::noncopyable
+{
+public:
+  SingleSubscriberPublisher(const SubscriberLinkPtr& link);
+  ~SingleSubscriberPublisher();
+
+  /**
+   * \brief Publish a message on the topic associated with this Publisher.
+   *
+   * This version of publish will allow fast intra-process message-passing in the future,
+   * so you may not mutate the message after it has been passed in here (since it will be
+   * passed directly into a callback function)
+   *
+   */
+  template<class M>
+  void publish(const boost::shared_ptr<M const>& message) const
+  {
+    publish(*message);
+  }
+
+  /**
+   * \brief Publish a message on the topic associated with this Publisher.
+   *
+   * This version of publish will allow fast intra-process message-passing in the future,
+   * so you may not mutate the message after it has been passed in here (since it will be
+   * passed directly into a callback function)
+   *
+   */
+  template<class M>
+  void publish(const boost::shared_ptr<M>& message) const
+  {
+    publish(*message);
+  }
+
+  /**
+   * \brief Publish a message on the topic associated with this Publisher.
+   */
+  template<class M>
+  void publish(const M& message) const
+  {
+    using namespace serialization;
+    SerializedMessage m = serializeMessage(message);
+    publish(m);
+  }
+
+  /**
+   * \brief Returns the topic this publisher publishes on
+   */
+  std::string getTopic() const;
+
+  /**
+   * \brief Returns the name of the subscriber node
+   */
+  std::string getSubscriberName() const;
+
+private:
+  void publish(const SerializedMessage& m) const;
+
+  SubscriberLinkPtr link_;
+};
+
+}
+
+#endif // ROSCPP_PUBLISHER_HANDLE_H
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/spinner.h

@@ -0,0 +1,135 @@
+/*
+ * 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_SPINNER_H
+#define ROSCPP_SPINNER_H
+
+#include "ros/types.h"
+#include "common.h"
+
+#include <boost/shared_ptr.hpp>
+
+namespace ros
+{
+class NodeHandle;
+class CallbackQueue;
+
+/**
+ * \brief Abstract interface for classes which spin on a callback queue.
+ */
+class ROSCPP_DECL Spinner
+{
+public:
+  virtual ~Spinner() {}
+
+  /**
+   * \brief Spin on a callback queue (defaults to the global one).  Blocks until roscpp has been shutdown.
+   */
+  virtual void spin(CallbackQueue* queue = 0) = 0;
+};
+
+/**
+ * \brief Spinner which runs in a single thread.
+ */
+class SingleThreadedSpinner : public Spinner
+{
+public:
+  virtual void spin(CallbackQueue* queue = 0);
+};
+
+/**
+ * \brief Spinner which spins in multiple threads.
+ */
+class ROSCPP_DECL MultiThreadedSpinner : public Spinner
+{
+public:
+  /**
+   * \param thread_count Number of threads to use for calling callbacks.   0 will
+   * automatically use however many hardware threads exist on your system.
+   */
+  MultiThreadedSpinner(uint32_t thread_count = 0);
+
+  virtual void spin(CallbackQueue* queue = 0);
+
+private:
+  uint32_t thread_count_;
+};
+
+class AsyncSpinnerImpl;
+typedef boost::shared_ptr<AsyncSpinnerImpl> AsyncSpinnerImplPtr;
+
+/**
+ * \brief AsyncSpinner is a spinner that does not conform to the abstract Spinner interface.  Instead,
+ * it spins asynchronously when you call start(), and stops when either you call stop(), ros::shutdown()
+ * is called, or its destructor is called
+ *
+ * AsyncSpinner is reference counted internally, so if you copy one it will continue spinning until all
+ * copies have destructed (or stop() has been called on one of them)
+ */
+class ROSCPP_DECL AsyncSpinner
+{
+public:
+  /**
+   * \brief Simple constructor.  Uses the global callback queue
+   * \param thread_count The number of threads to use.  A value of 0 means to use the number of processor cores
+   */
+  AsyncSpinner(uint32_t thread_count);
+
+  /**
+   * \brief Constructor with custom callback queue
+   * \param thread_count The number of threads to use.  A value of 0 means to use the number of processor cores
+   * \param queue The callback queue to operate on.  A null value means to use the global queue
+   */
+  AsyncSpinner(uint32_t thread_count, CallbackQueue* queue);
+
+
+
+  /**
+   * \brief Check if the spinner can be started. The spinner shouldn't be started if
+   * another single-threaded spinner is already operating on the callback queue.
+   *
+   * This function is not necessary anymore. start() will always try to start spinning
+   * and throw a std::runtime_error if it failed.
+   */
+  // TODO: deprecate in L-turtle
+  bool canStart();
+  /**
+   * \brief Start this spinner spinning asynchronously
+   */
+  void start();
+  /**
+   * \brief Stop this spinner from running
+   */
+  void stop();
+
+private:
+  AsyncSpinnerImplPtr impl_;
+};
+
+}
+
+#endif // ROSCPP_SPIN_POLICY_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/statistics.h

@@ -0,0 +1,110 @@
+/*
+ * Copyright (C) 2013-2014, Dariush Forouher
+ *
+ * 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 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_STATISTICS_H
+#define ROSCPP_STATISTICS_H
+
+#include "forwards.h"
+#include "poll_set.h"
+#include "common.h"
+#include "publisher.h"
+#include <ros/time.h>
+#include "ros/subscription_callback_helper.h"
+#include <map>
+
+namespace ros
+{
+
+/**
+ * \brief This class logs statistics data about a ROS connection and
+ * publishs them periodically on a common topic.
+ *
+ * It provides a callback() function that has to be called everytime
+ * a new message arrives on a topic.
+ */
+class ROSCPP_DECL StatisticsLogger
+{
+public:
+
+  /**
+   * Constructior
+   */
+  StatisticsLogger();
+
+  /**
+   * Actual initialization. Must be called before the first call to callback()
+   */
+  void init(const SubscriptionCallbackHelperPtr& helper);
+
+  /**
+   * Callback function. Must be called for every message received.
+   */
+  void callback(const boost::shared_ptr<M_string>& connection_header, const std::string& topic, const std::string& callerid, const SerializedMessage& m, const uint64_t& bytes_sent, const ros::Time& received_time, bool dropped);
+
+private:
+
+  // these are hard constrains
+  int max_window;
+  int min_window;
+
+  // these are soft constrains
+  int max_elements;
+  int min_elements;
+
+  bool enable_statistics;
+
+  // remember, if this message type has a header
+  bool hasHeader_;
+
+  // frequency to publish statistics
+  double pub_frequency_;
+
+  // publisher for statistics data
+  ros::Publisher pub_;
+
+  struct StatData {
+    // last time, we published /statistics data
+    ros::Time last_publish;
+    // arrival times of all messages within the current window
+    std::list<ros::Time> arrival_time_list;
+    // age of all messages within the current window (if available)
+    std::list<ros::Duration> age_list;
+    // number of dropped messages
+    uint64_t dropped_msgs;
+    // latest sequence number observered (if available)
+    uint64_t last_seq;
+    // latest total traffic volume observed
+    uint64_t stat_bytes_last;
+  };
+
+  // storage for statistics data
+  std::map<std::string, struct StatData> map_;
+};
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/steady_timer.h

@@ -0,0 +1,127 @@
+/*
+ * Copyright (C) 2017, Felix Ruess, Roboception GmbH
+ *
+ * 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_STEADY_TIMER_H
+#define ROSCPP_STEADY_TIMER_H
+
+#include "common.h"
+#include "forwards.h"
+#include "steady_timer_options.h"
+
+namespace ros
+{
+
+/**
+ * \brief Manages a steady-clock timer callback
+ *
+ * A SteadyTimer should always be created through a call to NodeHandle::createSteadyTimer(), or copied from one
+ * that was. Once all copies of a specific
+ * SteadyTimer go out of scope, the callback associated with that handle will stop
+ * being called.
+ */
+class ROSCPP_DECL SteadyTimer
+{
+public:
+  SteadyTimer() {}
+  SteadyTimer(const SteadyTimer& rhs);
+  ~SteadyTimer();
+
+  /**
+   * \brief Start the timer.  Does nothing if the timer is already started.
+   */
+  void start();
+  /**
+   * \brief Stop the timer.  Once this call returns, no more callbacks will be called.  Does
+   * nothing if the timer is already stopped.
+   */
+  void stop();
+
+  /**
+   * \brief Returns whether or not the timer has any pending events to call.
+   */
+  bool hasPending();
+
+  /**
+   * \brief Set the period of this timer
+   */
+  void setPeriod(const WallDuration& period, bool reset=true);
+
+  bool isValid() { return impl_ && impl_->isValid(); }
+  operator void*() { return isValid() ? (void *) 1 : (void *) 0; }
+
+  bool operator<(const SteadyTimer& rhs)
+  {
+    return impl_ < rhs.impl_;
+  }
+
+  bool operator==(const SteadyTimer& rhs)
+  {
+    return impl_ == rhs.impl_;
+  }
+
+  bool operator!=(const SteadyTimer& rhs)
+  {
+    return impl_ != rhs.impl_;
+  }
+
+private:
+  SteadyTimer(const SteadyTimerOptions& ops);
+
+  class Impl
+  {
+  public:
+    Impl();
+    ~Impl();
+
+    bool isValid();
+    bool hasPending();
+    void setPeriod(const WallDuration &period, bool reset=true);
+
+    void start();
+    void stop();
+
+    bool started_;
+    int32_t timer_handle_;
+
+    WallDuration period_;
+    SteadyTimerCallback callback_;
+    CallbackQueueInterface *callback_queue_;
+    VoidConstWPtr tracked_object_;
+    bool has_tracked_object_;
+    bool oneshot_;
+  };
+  typedef boost::shared_ptr<Impl> ImplPtr;
+  typedef boost::weak_ptr<Impl> ImplWPtr;
+
+  ImplPtr impl_;
+
+  friend class NodeHandle;
+};
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/steady_timer_options.h

@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2017, Felix Ruess, Roboception GmbH
+ *
+ * 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_STEADY_TIMER_OPTIONS_H
+#define ROSCPP_STEADY_TIMER_OPTIONS_H
+
+#include "common.h"
+#include "ros/forwards.h"
+
+namespace ros
+{
+
+/**
+ * \brief Encapsulates all options available for starting a timer
+ */
+struct ROSCPP_DECL SteadyTimerOptions
+{
+  SteadyTimerOptions()
+  : period(0.1)
+  , callback_queue(0)
+  , oneshot(false)
+  , autostart(true)
+  {
+  }
+
+  /*
+   * \brief Constructor
+   * \param
+   */
+  SteadyTimerOptions(WallDuration _period, const SteadyTimerCallback& _callback, CallbackQueueInterface* _queue,
+                     bool oneshot = false, bool autostart = true)
+  : period(_period)
+  , callback(_callback)
+  , callback_queue(_queue)
+  , oneshot(oneshot)
+  , autostart(autostart)
+  {}
+
+  WallDuration period;                                              ///< The period to call the callback at
+  SteadyTimerCallback callback;                                  ///< The callback to call
+
+  CallbackQueueInterface* callback_queue;                           ///< Queue to add callbacks to.  If NULL, the global callback queue will be used
+
+  /**
+   * A shared pointer to an object to track for these callbacks.  If set, the a weak_ptr will be created to this object,
+   * and if the reference count goes to 0 the subscriber callbacks will not get called.
+   *
+   * \note Note that setting this will cause a new reference to be added to the object before the
+   * callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore
+   * thread) that the callback is invoked from.
+   */
+  VoidConstPtr tracked_object;
+
+  bool oneshot;
+  bool autostart;
+};
+
+
+}
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/subscribe_options.h

@@ -0,0 +1,170 @@
+/*
+ * 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_SUBSCRIBE_OPTIONS_H
+#define ROSCPP_SUBSCRIBE_OPTIONS_H
+
+#include "ros/forwards.h"
+#include "common.h"
+#include "ros/transport_hints.h"
+#include "ros/message_traits.h"
+#include "subscription_callback_helper.h"
+
+namespace ros
+{
+
+/**
+ * \brief Encapsulates all options available for creating a Subscriber
+ */
+struct ROSCPP_DECL SubscribeOptions
+{
+  /**
+   *
+   */
+  SubscribeOptions()
+  : queue_size(1)
+  , callback_queue(0)
+  , allow_concurrent_callbacks(false)
+  {
+  }
+
+  /**
+   * \brief Constructor
+   * \param _topic Topic to subscribe on
+   * \param _queue_size Number of incoming messages to queue up for
+   *        processing (messages in excess of this queue capacity will be
+   *        discarded).
+   * \param _md5sum
+   * \param _datatype
+   */
+  SubscribeOptions(const std::string& _topic, uint32_t _queue_size, const std::string& _md5sum, const std::string& _datatype)
+  : topic(_topic)
+  , queue_size(_queue_size)
+  , md5sum(_md5sum)
+  , datatype(_datatype)
+  , callback_queue(0)
+  , allow_concurrent_callbacks(false)
+  {}
+
+  /**
+   * \brief Templated initialization, templated on callback parameter type.  Supports any callback parameters supported by the SubscriptionCallbackAdapter
+   * \param _topic Topic to subscribe on
+   * \param _queue_size Number of incoming messages to queue up for
+   *        processing (messages in excess of this queue capacity will be
+   *        discarded).
+   * \param _callback Callback to call when a message arrives on this topic
+   */
+  template<class P>
+  void initByFullCallbackType(const std::string& _topic, uint32_t _queue_size,
+       const boost::function<void (P)>& _callback,
+       const boost::function<boost::shared_ptr<typename ParameterAdapter<P>::Message>(void)>& factory_fn = DefaultMessageCreator<typename ParameterAdapter<P>::Message>())
+  {
+    typedef typename ParameterAdapter<P>::Message MessageType;
+    topic = _topic;
+    queue_size = _queue_size;
+    md5sum = message_traits::md5sum<MessageType>();
+    datatype = message_traits::datatype<MessageType>();
+    helper = boost::make_shared<SubscriptionCallbackHelperT<P> >(_callback, factory_fn);
+  }
+
+  /**
+   * \brief Templated initialization, templated on message type.  Only supports "const boost::shared_ptr<M const>&" callback types
+   * \param _topic Topic to subscribe on
+   * \param _queue_size Number of incoming messages to queue up for
+   *        processing (messages in excess of this queue capacity will be
+   *        discarded).
+   * \param _callback Callback to call when a message arrives on this topic
+   */
+  template<class M>
+  void init(const std::string& _topic, uint32_t _queue_size,
+       const boost::function<void (const boost::shared_ptr<M const>&)>& _callback,
+       const boost::function<boost::shared_ptr<M>(void)>& factory_fn = DefaultMessageCreator<M>())
+  {
+    typedef typename ParameterAdapter<M>::Message MessageType;
+    topic = _topic;
+    queue_size = _queue_size;
+    md5sum = message_traits::md5sum<MessageType>();
+    datatype = message_traits::datatype<MessageType>();
+    helper = boost::make_shared<SubscriptionCallbackHelperT<const boost::shared_ptr<MessageType const>&> >(_callback, factory_fn);
+  }
+
+  std::string topic;                                                ///< Topic to subscribe to
+  uint32_t queue_size;                                              ///< Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded).
+
+  std::string md5sum;                                               ///< MD5 of the message datatype
+  std::string datatype;                                             ///< Datatype of the message we'd like to subscribe as
+
+  SubscriptionCallbackHelperPtr helper;                              ///< Helper object used to get create messages and call callbacks
+
+  CallbackQueueInterface* callback_queue;                           ///< Queue to add callbacks to.  If NULL, the global callback queue will be used
+
+  /// By default subscription callbacks are guaranteed to arrive in-order, with only one callback happening for this subscription at any given
+  /// time.  Setting this to true allows you to receive multiple messages on the same topic from multiple threads at the same time
+  bool allow_concurrent_callbacks;
+
+  /**
+   * \brief An object whose destruction will prevent the callback associated with this subscription
+   *
+   * A shared pointer to an object to track for these callbacks.  If set, the a weak_ptr will be created to this object,
+   * and if the reference count goes to 0 the subscriber callbacks will not get called.
+   *
+   * \note Note that setting this will cause a new reference to be added to the object before the
+   * callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore
+   * thread) that the callback is invoked from.
+   */
+  VoidConstPtr tracked_object;
+
+  TransportHints transport_hints;                                   ///< Hints for transport type and options
+
+  /**
+   * \brief Templated helper function for creating an AdvertiseServiceOptions with most of its options
+   * \param topic Topic name to subscribe to
+   * \param queue_size Number of incoming messages to queue up for
+   *        processing (messages in excess of this queue capacity will be
+   *        discarded).
+   * \param callback The callback to invoke when a message is received on this topic
+   * \param tracked_object The tracked object to use (see SubscribeOptions::tracked_object)
+   * \param queue The callback queue to use (see SubscribeOptions::callback_queue)
+   */
+  template<class M>
+  static SubscribeOptions create(const std::string& topic, uint32_t queue_size,
+                                 const boost::function<void (const boost::shared_ptr<M const>&)>& callback,
+                                 const VoidConstPtr& tracked_object, CallbackQueueInterface* queue)
+  {
+    SubscribeOptions ops;
+    ops.init<M>(topic, queue_size, callback);
+    ops.tracked_object = tracked_object;
+    ops.callback_queue = queue;
+    return ops;
+  }
+};
+
+}
+
+#endif
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/subscriber.h

@@ -0,0 +1,121 @@
+/*
+ * 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_SUBSCRIBER_HANDLE_H
+#define ROSCPP_SUBSCRIBER_HANDLE_H
+
+#include "common.h"
+#include "ros/forwards.h"
+#include "ros/subscription_callback_helper.h"
+
+namespace ros
+{
+
+/**
+ * \brief Manages an subscription callback on a specific topic.
+ *
+ * A Subscriber should always be created through a call to NodeHandle::subscribe(), or copied from one
+ * that was. Once all copies of a specific
+ * Subscriber go out of scope, the subscription callback associated with that handle will stop
+ * being called.  Once all Subscriber for a given topic go out of scope the topic will be unsubscribed.
+ */
+class ROSCPP_DECL Subscriber
+{
+public:
+  Subscriber() {}
+  Subscriber(const Subscriber& rhs);
+  ~Subscriber();
+
+  /**
+   * \brief Unsubscribe the callback associated with this Subscriber
+   *
+   * This method usually does not need to be explicitly called, as automatic shutdown happens when
+   * all copies of this Subscriber go out of scope
+   *
+   * This method overrides the automatic reference counted unsubscribe, and immediately
+   * unsubscribes the callback associated with this Subscriber
+   */
+  void shutdown();
+
+  std::string getTopic() const;
+
+  /**
+   * \brief Returns the number of publishers this subscriber is connected to
+   */
+  uint32_t getNumPublishers() const;
+
+  operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
+
+  bool operator<(const Subscriber& rhs) const
+  {
+    return impl_ < rhs.impl_;
+  }
+
+  bool operator==(const Subscriber& rhs) const
+  {
+    return impl_ == rhs.impl_;
+  }
+
+  bool operator!=(const Subscriber& rhs) const
+  {
+    return impl_ != rhs.impl_;
+  }
+
+private:
+
+  Subscriber(const std::string& topic, const NodeHandle& node_handle, 
+	     const SubscriptionCallbackHelperPtr& helper);
+
+  class Impl
+  {
+  public:
+    Impl();
+    ~Impl();
+
+    void unsubscribe();
+    bool isValid() const;
+
+    std::string topic_;
+    NodeHandlePtr node_handle_;
+    SubscriptionCallbackHelperPtr helper_;
+    bool unsubscribed_;
+  };
+  typedef boost::shared_ptr<Impl> ImplPtr;
+  typedef boost::weak_ptr<Impl> ImplWPtr;
+
+  ImplPtr impl_;
+
+  friend class NodeHandle;
+  friend class NodeHandleBackingCollection;
+};
+typedef std::vector<Subscriber> V_Subscriber;
+
+}
+
+#endif // ROSCPP_PUBLISHER_HANDLE_H
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/subscriber_link.h

@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_SUBSCRIBER_LINK_H
+#define ROSCPP_SUBSCRIBER_LINK_H
+
+#include "ros/common.h"
+
+#include <boost/thread/mutex.hpp>
+#include <boost/shared_array.hpp>
+#include <boost/weak_ptr.hpp>
+#include <boost/enable_shared_from_this.hpp>
+
+#include <queue>
+
+namespace ros
+{
+class Header;
+class Message;
+class Publication;
+typedef boost::shared_ptr<Publication> PublicationPtr;
+typedef boost::weak_ptr<Publication> PublicationWPtr;
+class Connection;
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+
+class ROSCPP_DECL SubscriberLink : public boost::enable_shared_from_this<SubscriberLink>
+{
+public:
+  class Stats
+  {
+  public:
+    uint64_t bytes_sent_, message_data_sent_, messages_sent_;
+    Stats()
+    : bytes_sent_(0), message_data_sent_(0), messages_sent_(0) { }
+  };
+
+  SubscriberLink();
+  virtual ~SubscriberLink();
+
+  const std::string& getTopic() const { return topic_; }
+  const Stats &getStats() { return stats_; }
+  const std::string &getDestinationCallerID() const { return destination_caller_id_; }
+  int getConnectionID() const { return connection_id_; }
+
+  /**
+   * \brief Queue up a message for publication.  Throws out old messages if we've reached our Publication's max queue size
+   */
+  virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy) = 0;
+
+  virtual void drop() = 0;
+
+  virtual std::string getTransportType() = 0;
+  virtual std::string getTransportInfo() = 0;
+
+  virtual bool isIntraprocess() { return false; }
+  virtual void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti) { (void)ti; ser = true; nocopy = false; }
+
+  const std::string& getMD5Sum();
+  const std::string& getDataType();
+  const std::string& getMessageDefinition();
+
+protected:
+  bool verifyDatatype(const std::string &datatype);
+
+  PublicationWPtr parent_;
+  unsigned int connection_id_;
+  std::string destination_caller_id_;
+  Stats stats_;
+  std::string topic_;
+};
+
+} // namespace ros
+
+#endif // ROSCPP_SUBSCRIBER_LINK_H
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/subscription.h

@@ -0,0 +1,249 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_SUBSCRIPTION_H
+#define ROSCPP_SUBSCRIPTION_H
+
+#include <queue>
+#include "ros/common.h"
+#include "ros/header.h"
+#include "ros/forwards.h"
+#include "ros/transport_hints.h"
+#include "ros/xmlrpc_manager.h"
+#include "ros/statistics.h"
+#include "xmlrpcpp/XmlRpc.h"
+
+#include <boost/thread.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/enable_shared_from_this.hpp>
+
+namespace ros
+{
+
+class PublisherLink;
+typedef boost::shared_ptr<PublisherLink> PublisherLinkPtr;
+
+class SubscriptionCallback;
+typedef boost::shared_ptr<SubscriptionCallback> SubscriptionCallbackPtr;
+
+class SubscriptionQueue;
+typedef boost::shared_ptr<SubscriptionQueue> SubscriptionQueuePtr;
+
+class MessageDeserializer;
+typedef boost::shared_ptr<MessageDeserializer> MessageDeserializerPtr;
+
+class SubscriptionCallbackHelper;
+typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
+
+/**
+ * \brief Manages a subscription on a single topic.
+ */
+class ROSCPP_DECL Subscription : public boost::enable_shared_from_this<Subscription>
+{
+public:
+  Subscription(const std::string &name, const std::string& md5sum, const std::string& datatype, const TransportHints& transport_hints);
+  virtual ~Subscription();
+
+  /**
+   * \brief Terminate all our PublisherLinks
+   */
+  void drop();
+  /**
+   * \brief Terminate all our PublisherLinks and join our callback thread if it exists
+   */
+  void shutdown();
+  /**
+   * \brief Handle a publisher update list received from the master. Creates/drops PublisherLinks based on
+   * the list.  Never handles new self-subscriptions
+   */
+  bool pubUpdate(const std::vector<std::string> &pubs);
+  /**
+   * \brief Negotiates a connection with a publisher
+   * \param xmlrpc_uri The XMLRPC URI to connect to to negotiate the connection
+   */
+  bool negotiateConnection(const std::string& xmlrpc_uri);
+
+  void addLocalConnection(const PublicationPtr& pub);
+
+  /**
+   * \brief Returns whether this Subscription has been dropped or not
+   */
+  bool isDropped() { return dropped_; }
+  XmlRpc::XmlRpcValue getStats();
+  void getInfo(XmlRpc::XmlRpcValue& info);
+
+  bool addCallback(const SubscriptionCallbackHelperPtr& helper, const std::string& md5sum, CallbackQueueInterface* queue, int32_t queue_size, const VoidConstPtr& tracked_object, bool allow_concurrent_callbacks);
+  void removeCallback(const SubscriptionCallbackHelperPtr& helper);
+
+  typedef std::map<std::string, std::string> M_string;
+
+  /**
+   * \brief Called to notify that a new message has arrived from a publisher.
+   * Schedules the callback for invokation with the callback queue
+   */
+  uint32_t handleMessage(const SerializedMessage& m, bool ser, bool nocopy, const boost::shared_ptr<M_string>& connection_header, const PublisherLinkPtr& link);
+
+  const std::string datatype();
+  const std::string md5sum();
+
+  /**
+   * \brief Removes a subscriber from our list
+   */
+  void removePublisherLink(const PublisherLinkPtr& pub_link);
+
+  const std::string& getName() const { return name_; }
+  uint32_t getNumCallbacks() const { return callbacks_.size(); }
+  uint32_t getNumPublishers();
+
+  // We'll keep a list of these objects, representing in-progress XMLRPC 
+  // connections to other nodes.
+  class ROSCPP_DECL PendingConnection : public ASyncXMLRPCConnection
+  {
+    public:
+      PendingConnection(XmlRpc::XmlRpcClient* client, TransportUDPPtr udp_transport, const SubscriptionWPtr& parent, const std::string& remote_uri)
+      : client_(client)
+      , udp_transport_(udp_transport)
+      , parent_(parent)
+      , remote_uri_(remote_uri)
+      {}
+
+      ~PendingConnection()
+      {
+        delete client_;
+      }
+
+      XmlRpc::XmlRpcClient* getClient() const { return client_; }
+      TransportUDPPtr getUDPTransport() const { return udp_transport_; }
+
+      virtual void addToDispatch(XmlRpc::XmlRpcDispatch* disp)
+      {
+        disp->addSource(client_, XmlRpc::XmlRpcDispatch::WritableEvent | XmlRpc::XmlRpcDispatch::Exception);
+      }
+
+      virtual void removeFromDispatch(XmlRpc::XmlRpcDispatch* disp)
+      {
+        disp->removeSource(client_);
+      }
+
+      virtual bool check()
+      {
+        SubscriptionPtr parent = parent_.lock();
+        if (!parent)
+        {
+          return true;
+        }
+
+        XmlRpc::XmlRpcValue result;
+        if (client_->executeCheckDone(result))
+        {
+          parent->pendingConnectionDone(boost::dynamic_pointer_cast<PendingConnection>(shared_from_this()), result);
+          return true;
+        }
+
+        return false;
+      }
+
+      const std::string& getRemoteURI() { return remote_uri_; }
+
+    private:
+      XmlRpc::XmlRpcClient* client_;
+      TransportUDPPtr udp_transport_;
+      SubscriptionWPtr parent_;
+      std::string remote_uri_;
+  };
+  typedef boost::shared_ptr<PendingConnection> PendingConnectionPtr;
+
+  void pendingConnectionDone(const PendingConnectionPtr& pending_conn, XmlRpc::XmlRpcValue& result);
+
+  void getPublishTypes(bool& ser, bool& nocopy, const std::type_info& ti);
+
+  void headerReceived(const PublisherLinkPtr& link, const Header& h);
+
+private:
+  Subscription(const Subscription &); // not copyable
+  Subscription &operator =(const Subscription &); // nor assignable
+
+  void dropAllConnections();
+
+  void addPublisherLink(const PublisherLinkPtr& link);
+
+  struct CallbackInfo
+  {
+    CallbackQueueInterface* callback_queue_;
+
+    // Only used if callback_queue_ is non-NULL (NodeHandle API)
+    SubscriptionCallbackHelperPtr helper_;
+    SubscriptionQueuePtr subscription_queue_;
+    bool has_tracked_object_;
+    VoidConstWPtr tracked_object_;
+  };
+  typedef boost::shared_ptr<CallbackInfo> CallbackInfoPtr;
+  typedef std::vector<CallbackInfoPtr> V_CallbackInfo;
+
+  std::string name_;
+  boost::mutex md5sum_mutex_;
+  std::string md5sum_;
+  std::string datatype_;
+  boost::mutex callbacks_mutex_;
+  V_CallbackInfo callbacks_;
+  uint32_t nonconst_callbacks_;
+
+  bool dropped_;
+  bool shutting_down_;
+  boost::mutex shutdown_mutex_;
+
+  typedef std::set<PendingConnectionPtr> S_PendingConnection;
+  S_PendingConnection pending_connections_;
+  boost::mutex pending_connections_mutex_;
+
+  typedef std::vector<PublisherLinkPtr> V_PublisherLink;
+  V_PublisherLink publisher_links_;
+  boost::mutex publisher_links_mutex_;
+
+  TransportHints transport_hints_;
+
+  StatisticsLogger statistics_;
+
+  struct LatchInfo
+  {
+    SerializedMessage message;
+    PublisherLinkPtr link;
+    boost::shared_ptr<std::map<std::string, std::string> > connection_header;
+    ros::Time receipt_time;
+  };
+
+  typedef std::map<PublisherLinkPtr, LatchInfo> M_PublisherLinkToLatchInfo;
+  M_PublisherLinkToLatchInfo latched_messages_;
+
+  typedef std::vector<std::pair<const std::type_info*, MessageDeserializerPtr> > V_TypeAndDeserializer;
+  V_TypeAndDeserializer cached_deserializers_;
+};
+
+}
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/subscription_callback_helper.h

@@ -0,0 +1,164 @@
+/*
+ * 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_SUBSCRIPTION_CALLBACK_HELPER_H
+#define ROSCPP_SUBSCRIPTION_CALLBACK_HELPER_H
+
+#include <typeinfo>
+
+#include "common.h"
+#include "ros/forwards.h"
+#include "ros/parameter_adapter.h"
+#include "ros/message_traits.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/serialization.h"
+#include "ros/message_event.h"
+#include <ros/static_assert.h>
+
+#include <boost/type_traits/add_const.hpp>
+#include <boost/type_traits/remove_const.hpp>
+#include <boost/type_traits/remove_reference.hpp>
+#include <boost/type_traits/is_base_of.hpp>
+#include <boost/utility/enable_if.hpp>
+#include <boost/make_shared.hpp>
+
+namespace ros
+{
+
+struct SubscriptionCallbackHelperDeserializeParams
+{
+  uint8_t* buffer;
+  uint32_t length;
+  boost::shared_ptr<M_string> connection_header;
+};
+
+struct ROSCPP_DECL SubscriptionCallbackHelperCallParams
+{
+  MessageEvent<void const> event;
+};
+
+/**
+ * \brief Abstract base class used by subscriptions to deal with concrete message types through a common
+ * interface.  This is one part of the roscpp API that is \b not fully stable, so overloading this class
+ * is not recommended.
+ */
+class ROSCPP_DECL SubscriptionCallbackHelper
+{
+public:
+  virtual ~SubscriptionCallbackHelper() {}
+  virtual VoidConstPtr deserialize(const SubscriptionCallbackHelperDeserializeParams&) = 0;
+  virtual void call(SubscriptionCallbackHelperCallParams& params) = 0;
+  virtual const std::type_info& getTypeInfo() = 0;
+  virtual bool isConst() = 0;
+  virtual bool hasHeader() = 0;
+};
+typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
+
+/**
+ * \brief Concrete generic implementation of
+ * SubscriptionCallbackHelper for any normal message type.  Use
+ * directly with care, this is mostly for internal use.
+ */
+template<typename P, typename Enabled = void>
+class SubscriptionCallbackHelperT : public SubscriptionCallbackHelper
+{
+public:
+  typedef ParameterAdapter<P> Adapter;
+  typedef typename ParameterAdapter<P>::Message NonConstType;
+  typedef typename ParameterAdapter<P>::Event Event;
+  typedef typename boost::add_const<NonConstType>::type ConstType;
+  typedef boost::shared_ptr<NonConstType> NonConstTypePtr;
+  typedef boost::shared_ptr<ConstType> ConstTypePtr;
+
+  static const bool is_const = ParameterAdapter<P>::is_const;
+
+  typedef boost::function<void(typename Adapter::Parameter)> Callback;
+  typedef boost::function<NonConstTypePtr()> CreateFunction;
+
+  SubscriptionCallbackHelperT(const Callback& callback, 
+			      const CreateFunction& create = DefaultMessageCreator<NonConstType>())
+    : callback_(callback)
+    , create_(create)
+  { }
+
+  void setCreateFunction(const CreateFunction& create)
+  {
+    create_ = create;
+  }
+
+  virtual bool hasHeader()
+  {
+     return message_traits::hasHeader<typename ParameterAdapter<P>::Message>();
+  }
+
+  virtual VoidConstPtr deserialize(const SubscriptionCallbackHelperDeserializeParams& params)
+  {
+    namespace ser = serialization;
+
+    NonConstTypePtr msg = create_();
+
+    if (!msg)
+    {
+      ROS_DEBUG("Allocation failed for message of type [%s]", getTypeInfo().name());
+      return VoidConstPtr();
+    }
+
+    ser::PreDeserializeParams<NonConstType> predes_params;
+    predes_params.message = msg;
+    predes_params.connection_header = params.connection_header;
+    ser::PreDeserialize<NonConstType>::notify(predes_params);
+
+    ser::IStream stream(params.buffer, params.length);
+    ser::deserialize(stream, *msg);
+
+    return VoidConstPtr(msg);
+  }
+
+  virtual void call(SubscriptionCallbackHelperCallParams& params)
+  {
+    Event event(params.event, create_);
+    callback_(ParameterAdapter<P>::getParameter(event));
+  }
+
+  virtual const std::type_info& getTypeInfo()
+  {
+    return typeid(NonConstType);
+  }
+
+  virtual bool isConst()
+  {
+    return ParameterAdapter<P>::is_const;
+  }
+
+private:
+  Callback callback_;
+  CreateFunction create_;
+};
+
+}
+
+#endif // ROSCPP_SUBSCRIPTION_CALLBACK_HELPER_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/subscription_queue.h

@@ -0,0 +1,95 @@
+/*
+ * 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 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_SUBSCRIPTION_QUEUE_H
+#define ROSCPP_SUBSCRIPTION_QUEUE_H
+
+#include "forwards.h"
+#include "common.h"
+#include "ros/message_event.h"
+#include "callback_queue_interface.h"
+
+#include <boost/thread/recursive_mutex.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/enable_shared_from_this.hpp>
+#include <deque>
+
+namespace ros
+{
+
+class MessageDeserializer;
+typedef boost::shared_ptr<MessageDeserializer> MessageDeserializerPtr;
+
+class SubscriptionCallbackHelper;
+typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
+
+class ROSCPP_DECL SubscriptionQueue : public CallbackInterface, public boost::enable_shared_from_this<SubscriptionQueue>
+{
+private:
+  struct Item
+  {
+    SubscriptionCallbackHelperPtr helper;
+    MessageDeserializerPtr deserializer;
+
+    bool has_tracked_object;
+    VoidConstWPtr tracked_object;
+
+    bool nonconst_need_copy;
+    ros::Time receipt_time;
+  };
+  typedef std::deque<Item> D_Item;
+
+public:
+  SubscriptionQueue(const std::string& topic, int32_t queue_size, bool allow_concurrent_callbacks);
+  ~SubscriptionQueue();
+
+  void push(const SubscriptionCallbackHelperPtr& helper, const MessageDeserializerPtr& deserializer, 
+	    bool has_tracked_object, const VoidConstWPtr& tracked_object, bool nonconst_need_copy, 
+	    ros::Time receipt_time = ros::Time(), bool* was_full = 0);
+  void clear();
+
+  virtual CallbackInterface::CallResult call();
+  virtual bool ready();
+  bool full();
+
+private:
+  bool fullNoLock();
+  std::string topic_;
+  int32_t size_;
+  bool full_;
+
+  boost::mutex queue_mutex_;
+  D_Item queue_;
+  uint32_t queue_size_;
+  bool allow_concurrent_callbacks_;
+
+  boost::recursive_mutex callback_mutex_;
+};
+
+}
+
+#endif // ROSCPP_SUBSCRIPTION_QUEUE_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/this_node.h

@@ -0,0 +1,70 @@
+/*
+ * 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_THIS_NODE_H
+#define ROSCPP_THIS_NODE_H
+
+#include "common.h"
+#include "forwards.h"
+
+namespace ros
+{
+
+/**
+ * \brief Contains functions which provide information about this process' ROS node
+ */
+namespace this_node
+{
+
+/**
+ * \brief Returns the name of the current node.
+ */
+ROSCPP_DECL const std::string& getName();
+/**
+ * \brief Returns the namespace of the current node.
+ */
+ROSCPP_DECL const std::string& getNamespace();
+
+/** @brief Get the list of topics advertised by this node
+ *
+ * @param[out] topics The advertised topics
+ */
+ROSCPP_DECL void getAdvertisedTopics(V_string& topics);
+
+/** @brief Get the list of topics subscribed to by this node
+ *
+ * @param[out] The subscribed topics
+ */
+ROSCPP_DECL void getSubscribedTopics(V_string& topics);
+
+} // namespace this_node
+
+} // namespace ros
+
+#endif // ROSCPP_THIS_NODE_H
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/timer.h

@@ -0,0 +1,130 @@
+/*
+ * 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 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_TIMER_H
+#define ROSCPP_TIMER_H
+
+#include "common.h"
+#include "forwards.h"
+#include "timer_options.h"
+
+namespace ros
+{
+
+/**
+ * \brief Manages a timer callback
+ *
+ * A Timer should always be created through a call to NodeHandle::createTimer(), or copied from one
+ * that was. Once all copies of a specific
+ * Timer go out of scope, the callback associated with that handle will stop
+ * being called.
+ */
+class ROSCPP_DECL Timer
+{
+public:
+  Timer() {}
+  Timer(const Timer& rhs);
+  ~Timer();
+
+  /**
+   * \brief Start the timer.  Does nothing if the timer is already started.
+   */
+  void start();
+  /**
+   * \brief Stop the timer.  Once this call returns, no more callbacks will be called.  Does
+   * nothing if the timer is already stopped.
+   */
+  void stop();
+
+  /**
+   * \brief Returns whether or not the timer has any pending events to call.
+   */
+  bool hasPending();
+
+  /**
+   * \brief Set the period of this timer
+   * \param reset Whether to reset the timer. If true, timer ignores elapsed time and next cb occurs at now()+period
+   */
+  void setPeriod(const Duration& period, bool reset=true);
+
+  bool hasStarted() const { return impl_->hasStarted(); }
+  bool isValid() { return impl_ && impl_->isValid(); }
+  operator void*() { return isValid() ? (void*)1 : (void*)0; }
+
+  bool operator<(const Timer& rhs)
+  {
+    return impl_ < rhs.impl_;
+  }
+
+  bool operator==(const Timer& rhs)
+  {
+    return impl_ == rhs.impl_;
+  }
+
+  bool operator!=(const Timer& rhs)
+  {
+    return impl_ != rhs.impl_;
+  }
+
+private:
+  Timer(const TimerOptions& ops);
+
+  class Impl
+  {
+  public:
+    Impl();
+    ~Impl();
+
+    bool hasStarted() const;
+    bool isValid();
+    bool hasPending();
+    void setPeriod(const Duration& period, bool reset=true);
+
+    void start();
+    void stop();
+
+    bool started_;
+    int32_t timer_handle_;
+
+    Duration period_;
+    TimerCallback callback_;
+    CallbackQueueInterface* callback_queue_;
+    VoidConstWPtr tracked_object_;
+    bool has_tracked_object_;
+    bool oneshot_;
+  };
+  typedef boost::shared_ptr<Impl> ImplPtr;
+  typedef boost::weak_ptr<Impl> ImplWPtr;
+
+  ImplPtr impl_;
+
+  friend class NodeHandle;
+};
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/timer_manager.h

@@ -0,0 +1,590 @@
+/*
+ * 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_TIMER_MANAGER_H
+#define ROSCPP_TIMER_MANAGER_H
+
+// check if we might need to include our own backported version boost::condition_variable
+// in order to use CLOCK_MONOTONIC for the SteadyTimer
+// the include order here is important!
+#ifdef BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+#include <boost/version.hpp>
+#if BOOST_VERSION < 106100
+// use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
+#include "boost_161_condition_variable.h"
+#else // Boost version is 1.61 or greater and has the steady clock fixes
+#include <boost/thread/condition_variable.hpp>
+#endif
+#else // !BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+#include <boost/thread/condition_variable.hpp>
+#endif // BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+
+#include "ros/forwards.h"
+#include "ros/time.h"
+#include "ros/file_log.h"
+
+#include <boost/thread/thread.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/recursive_mutex.hpp>
+
+#include "ros/assert.h"
+#include "ros/callback_queue_interface.h"
+
+#include <vector>
+#include <list>
+
+namespace ros
+{
+
+template<class T, class D, class E>
+class TimerManager
+{
+private:
+  struct TimerInfo
+  {
+    int32_t handle;
+    D period;
+
+    boost::function<void(const E&)> callback;
+    CallbackQueueInterface* callback_queue;
+
+    WallDuration last_cb_duration;
+
+    T last_expected;
+    T next_expected;
+
+    T last_real;
+
+    bool removed;
+
+    VoidConstWPtr tracked_object;
+    bool has_tracked_object;
+
+    // TODO: atomicize
+    boost::mutex waiting_mutex;
+    uint32_t waiting_callbacks;
+
+    bool oneshot;
+
+    // debugging info
+    uint32_t total_calls;
+  };
+  typedef boost::shared_ptr<TimerInfo> TimerInfoPtr;
+  typedef boost::weak_ptr<TimerInfo> TimerInfoWPtr;
+  typedef std::vector<TimerInfoPtr> V_TimerInfo;
+
+  typedef std::list<int32_t> L_int32;
+
+public:
+  TimerManager();
+  ~TimerManager();
+
+  int32_t add(const D& period, const boost::function<void(const E&)>& callback, CallbackQueueInterface* callback_queue, const VoidConstPtr& tracked_object, bool oneshot);
+  void remove(int32_t handle);
+
+  bool hasPending(int32_t handle);
+  void setPeriod(int32_t handle, const D& period, bool reset=true);
+
+  static TimerManager& global()
+  {
+    static TimerManager<T, D, E> global;
+    return global;
+  }
+
+private:
+  void threadFunc();
+
+  bool waitingCompare(int32_t lhs, int32_t rhs);
+  TimerInfoPtr findTimer(int32_t handle);
+  void schedule(const TimerInfoPtr& info);
+  void updateNext(const TimerInfoPtr& info, const T& current_time);
+
+  V_TimerInfo timers_;
+  boost::mutex timers_mutex_;
+  boost::condition_variable timers_cond_;
+  volatile bool new_timer_;
+
+  boost::mutex waiting_mutex_;
+  L_int32 waiting_;
+
+  uint32_t id_counter_;
+  boost::mutex id_mutex_;
+
+  bool thread_started_;
+
+  boost::thread thread_;
+
+  bool quit_;
+
+  class TimerQueueCallback : public CallbackInterface
+  {
+  public:
+    TimerQueueCallback(TimerManager<T, D, E>* parent, const TimerInfoPtr& info, T last_expected, T last_real, T current_expected)
+    : parent_(parent)
+    , info_(info)
+    , last_expected_(last_expected)
+    , last_real_(last_real)
+    , current_expected_(current_expected)
+    , called_(false)
+    {
+      boost::mutex::scoped_lock lock(info->waiting_mutex);
+      ++info->waiting_callbacks;
+    }
+
+    ~TimerQueueCallback()
+    {
+      TimerInfoPtr info = info_.lock();
+      if (info)
+      {
+        boost::mutex::scoped_lock lock(info->waiting_mutex);
+        --info->waiting_callbacks;
+      }
+    }
+
+    CallResult call()
+    {
+      TimerInfoPtr info = info_.lock();
+      if (!info)
+      {
+        return Invalid;
+      }
+
+      {
+        ++info->total_calls;
+        called_ = true;
+
+        VoidConstPtr tracked;
+        if (info->has_tracked_object)
+        {
+          tracked = info->tracked_object.lock();
+          if (!tracked)
+          {
+            return Invalid;
+          }
+        }
+
+        E event;
+        event.last_expected = last_expected_;
+        event.last_real = last_real_;
+        event.current_expected = current_expected_;
+        event.current_real = T::now();
+        event.profile.last_duration = info->last_cb_duration;
+
+        SteadyTime cb_start = SteadyTime::now();
+        info->callback(event);
+        SteadyTime cb_end = SteadyTime::now();
+        info->last_cb_duration = cb_end - cb_start;
+
+        info->last_real = event.current_real;
+
+        parent_->schedule(info);
+      }
+
+      return Success;
+    }
+
+  private:
+    TimerManager<T, D, E>* parent_;
+    TimerInfoWPtr info_;
+    T last_expected_;
+    T last_real_;
+    T current_expected_;
+
+    bool called_;
+  };
+};
+
+template<class T, class D, class E>
+TimerManager<T, D, E>::TimerManager() :
+  new_timer_(false), id_counter_(0), thread_started_(false), quit_(false)
+{
+
+}
+
+template<class T, class D, class E>
+TimerManager<T, D, E>::~TimerManager()
+{
+  quit_ = true;
+  {
+    boost::mutex::scoped_lock lock(timers_mutex_);
+    timers_cond_.notify_all();
+  }
+  if (thread_started_)
+  {
+    thread_.join();
+  }
+}
+
+template<class T, class D, class E>
+bool TimerManager<T, D, E>::waitingCompare(int32_t lhs, int32_t rhs)
+{
+  TimerInfoPtr infol = findTimer(lhs);
+  TimerInfoPtr infor = findTimer(rhs);
+  if (!infol || !infor)
+  {
+    return infol < infor;
+  }
+
+  return infol->next_expected < infor->next_expected;
+}
+
+template<class T, class D, class E>
+typename TimerManager<T, D, E>::TimerInfoPtr TimerManager<T, D, E>::findTimer(int32_t handle)
+{
+  typename V_TimerInfo::iterator it = timers_.begin();
+  typename V_TimerInfo::iterator end = timers_.end();
+  for (; it != end; ++it)
+  {
+    if ((*it)->handle == handle)
+    {
+      return *it;
+    }
+  }
+
+  return TimerInfoPtr();
+}
+
+template<class T, class D, class E>
+bool TimerManager<T, D, E>::hasPending(int32_t handle)
+{
+  boost::mutex::scoped_lock lock(timers_mutex_);
+  TimerInfoPtr info = findTimer(handle);
+
+  if (!info)
+  {
+    return false;
+  }
+
+  if (info->has_tracked_object)
+  {
+    VoidConstPtr tracked = info->tracked_object.lock();
+    if (!tracked)
+    {
+      return false;
+    }
+  }
+
+  boost::mutex::scoped_lock lock2(info->waiting_mutex);
+  return info->next_expected <= T::now() || info->waiting_callbacks != 0;
+}
+
+template<class T, class D, class E>
+int32_t TimerManager<T, D, E>::add(const D& period, const boost::function<void(const E&)>& callback, CallbackQueueInterface* callback_queue,
+                                   const VoidConstPtr& tracked_object, bool oneshot)
+{
+  TimerInfoPtr info(boost::make_shared<TimerInfo>());
+  info->period = period;
+  info->callback = callback;
+  info->callback_queue = callback_queue;
+  info->last_expected = T::now();
+  info->next_expected = info->last_expected + period;
+  info->removed = false;
+  info->has_tracked_object = false;
+  info->waiting_callbacks = 0;
+  info->total_calls = 0;
+  info->oneshot = oneshot;
+  if (tracked_object)
+  {
+    info->tracked_object = tracked_object;
+    info->has_tracked_object = true;
+  }
+
+  {
+    boost::mutex::scoped_lock lock(id_mutex_);
+    info->handle = id_counter_++;
+  }
+
+  {
+    boost::mutex::scoped_lock lock(timers_mutex_);
+    timers_.push_back(info);
+
+    if (!thread_started_)
+    {
+      thread_ = boost::thread(boost::bind(&TimerManager::threadFunc, this));
+      thread_started_ = true;
+    }
+
+    {
+      boost::mutex::scoped_lock lock(waiting_mutex_);
+      waiting_.push_back(info->handle);
+      waiting_.sort(boost::bind(&TimerManager::waitingCompare, this, _1, _2));
+    }
+
+    new_timer_ = true;
+    timers_cond_.notify_all();
+  }
+
+  return info->handle;
+}
+
+template<class T, class D, class E>
+void TimerManager<T, D, E>::remove(int32_t handle)
+{
+  CallbackQueueInterface* callback_queue = 0;
+  uint64_t remove_id = 0;
+
+  {
+    boost::mutex::scoped_lock lock(timers_mutex_);
+
+    typename V_TimerInfo::iterator it = timers_.begin();
+    typename V_TimerInfo::iterator end = timers_.end();
+    for (; it != end; ++it)
+    {
+      const TimerInfoPtr& info = *it;
+      if (info->handle == handle)
+      {
+        info->removed = true;
+        callback_queue = info->callback_queue;
+        remove_id = (uint64_t)info.get();
+        timers_.erase(it);
+        break;
+      }
+    }
+
+    {
+      boost::mutex::scoped_lock lock2(waiting_mutex_);
+      // Remove from the waiting list if it's in it
+      L_int32::iterator it = std::find(waiting_.begin(), waiting_.end(), handle);
+      if (it != waiting_.end())
+      {
+        waiting_.erase(it);
+      }
+    }
+  }
+
+  if (callback_queue)
+  {
+    callback_queue->removeByID(remove_id);
+  }
+}
+
+template<class T, class D, class E>
+void TimerManager<T, D, E>::schedule(const TimerInfoPtr& info)
+{
+  boost::mutex::scoped_lock lock(timers_mutex_);
+
+  if (info->removed)
+  {
+    return;
+  }
+
+  updateNext(info, T::now());
+  {
+    boost::mutex::scoped_lock lock(waiting_mutex_);
+
+    waiting_.push_back(info->handle);
+    // waitingCompare requires a lock on the timers_mutex_
+    waiting_.sort(boost::bind(&TimerManager::waitingCompare, this, _1, _2));
+  }
+
+  new_timer_ = true;
+  timers_cond_.notify_one();
+}
+
+template<class T, class D, class E>
+void TimerManager<T, D, E>::updateNext(const TimerInfoPtr& info, const T& current_time)
+{
+  if (info->oneshot)
+  {
+    info->next_expected = T(INT_MAX, 999999999);
+  }
+  else
+  {
+    // Protect against someone having called setPeriod()
+    // If the next expected time is already past the current time
+    // don't update it
+    if (info->next_expected <= current_time)
+    {
+      info->last_expected = info->next_expected;
+      info->next_expected += info->period;
+    }
+
+    // detect time jumping forward, as well as callbacks that are too slow
+    if (info->next_expected + info->period < current_time)
+    {
+      ROS_DEBUG("Time jumped forward by [%f] for timer of period [%f], resetting timer (current=%f, next_expected=%f)", (current_time - info->next_expected).toSec(), info->period.toSec(), current_time.toSec(), info->next_expected.toSec());
+      info->next_expected = current_time;
+    }
+  }
+}
+
+template<class T, class D, class E>
+void TimerManager<T, D, E>::setPeriod(int32_t handle, const D& period, bool reset)
+{
+  boost::mutex::scoped_lock lock(timers_mutex_);
+  TimerInfoPtr info = findTimer(handle);
+
+  if (!info)
+  {
+    return;
+  }
+
+  {
+    boost::mutex::scoped_lock lock(waiting_mutex_);
+  
+    if(reset)
+    {
+      info->next_expected = T::now() + period;
+    }
+    
+    // else if some time has elapsed since last cb (called outside of cb)
+    else if( (T::now() - info->last_real) < info->period)
+    {
+      // if elapsed time is greater than the new period
+      // do the callback now
+      if( (T::now() - info->last_real) > period)
+      {
+        info->next_expected = T::now();
+      }
+   
+      // else, account for elapsed time by using last_real+period
+      else
+      {
+        info->next_expected = info->last_real + period;
+      }
+    }
+    
+    // Else if called in a callback, last_real has not been updated yet => (now - last_real) > period
+    // In this case, let next_expected be updated only in updateNext
+    
+    info->period = period;
+    waiting_.sort(boost::bind(&TimerManager::waitingCompare, this, _1, _2));
+  }
+
+  new_timer_ = true;
+  timers_cond_.notify_one();
+}
+
+template<class T, class D, class E>
+void TimerManager<T, D, E>::threadFunc()
+{
+  T current;
+  while (!quit_)
+  {
+    T sleep_end;
+
+    boost::mutex::scoped_lock lock(timers_mutex_);
+
+    // detect time jumping backwards
+    if (T::now() < current)
+    {
+      ROSCPP_LOG_DEBUG("Time jumped backward, resetting timers");
+
+      current = T::now();
+
+      typename V_TimerInfo::iterator it = timers_.begin();
+      typename V_TimerInfo::iterator end = timers_.end();
+      for (; it != end; ++it)
+      {
+        const TimerInfoPtr& info = *it;
+
+        // Timer may have been added after the time jump, so also check if time has jumped past its last call time
+        if (current < info->last_expected)
+        {
+          info->last_expected = current;
+          info->next_expected = current + info->period;
+        }
+      }
+    }
+
+    current = T::now();
+
+    {
+      boost::mutex::scoped_lock waitlock(waiting_mutex_);
+
+      if (waiting_.empty())
+      {
+        sleep_end = current + D(0.1);
+      }
+      else
+      {
+        TimerInfoPtr info = findTimer(waiting_.front());
+
+        while (!waiting_.empty() && info && info->next_expected <= current)
+        {
+          current = T::now();
+
+          //ROS_DEBUG("Scheduling timer callback for timer [%d] of period [%f], [%f] off expected", info->handle, info->period.toSec(), (current - info->next_expected).toSec());
+          CallbackInterfacePtr cb(boost::make_shared<TimerQueueCallback>(this, info, info->last_expected, info->last_real, info->next_expected));
+          info->callback_queue->addCallback(cb, (uint64_t)info.get());
+
+          waiting_.pop_front();
+
+          if (waiting_.empty())
+          {
+            break;
+          }
+
+          info = findTimer(waiting_.front());
+        }
+
+        if (info)
+        {
+          sleep_end = info->next_expected;
+        }
+      }
+    }
+
+    while (!new_timer_ && T::now() < sleep_end && !quit_)
+    {
+      // detect backwards jumps in time
+
+      if (T::now() < current)
+      {
+        ROSCPP_LOG_DEBUG("Time jumped backwards, breaking out of sleep");
+        break;
+      }
+
+      current = T::now();
+
+      if (current >= sleep_end)
+      {
+        break;
+      }
+
+      // If we're on simulation time we need to check now() against sleep_end more often than on system time,
+      // since simulation time may be running faster than real time.
+      if (!T::isSystemTime())
+      {
+        timers_cond_.timed_wait(lock, boost::posix_time::milliseconds(1));
+      }
+      else
+      {
+        // On system time we can simply sleep for the rest of the wait time, since anything else requiring processing will
+        // signal the condition variable
+        int64_t remaining_time = std::max<int64_t>((sleep_end - current).toSec() * 1000.0f, 1);
+        timers_cond_.timed_wait(lock, boost::posix_time::milliseconds(remaining_time));
+      }
+    }
+
+    new_timer_ = false;
+  }
+}
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/timer_options.h

@@ -0,0 +1,85 @@
+/*
+ * 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_TIMER_OPTIONS_H
+#define ROSCPP_TIMER_OPTIONS_H
+
+#include "common.h"
+#include "ros/forwards.h"
+
+namespace ros
+{
+
+/**
+ * \brief Encapsulates all options available for starting a timer
+ */
+struct ROSCPP_DECL TimerOptions
+{
+  TimerOptions()
+    : period(0.1)
+    , callback_queue(0)
+    , oneshot(false)
+    , autostart(true)
+  { }
+
+  /*
+   * \brief Constructor
+   * \param
+   */
+  TimerOptions(Duration _period, const TimerCallback& _callback, 
+               CallbackQueueInterface* _queue, bool oneshot = false, bool autostart = true)
+    : period(_period)
+    , callback(_callback)
+    , callback_queue(_queue)
+    , oneshot(oneshot)
+    , autostart(autostart)
+  { }
+
+  Duration period;                                                  ///< The period to call the callback at
+  TimerCallback callback;                                           ///< The callback to call
+
+  CallbackQueueInterface* callback_queue;                           ///< Queue to add callbacks to.  If NULL, the global callback queue will be used
+
+  /**
+   * A shared pointer to an object to track for these callbacks.  If set, the a weak_ptr will be created to this object,
+   * and if the reference count goes to 0 the subscriber callbacks will not get called.
+   *
+   * \note Note that setting this will cause a new reference to be added to the object before the
+   * callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore
+   * thread) that the callback is invoked from.
+   */
+  VoidConstPtr tracked_object;
+
+  bool oneshot;
+  bool autostart;
+};
+
+
+}
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/topic.h

@@ -0,0 +1,143 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  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 ROSCPP_TOPIC_H
+#define ROSCPP_TOPIC_H
+
+#include "common.h"
+#include "node_handle.h"
+#include <boost/shared_ptr.hpp>
+
+namespace ros
+{
+namespace topic
+{
+
+/**
+ * \brief Internal method, do not use
+ */
+ROSCPP_DECL void waitForMessageImpl(SubscribeOptions& ops, const boost::function<bool(void)>& ready_pred, NodeHandle& nh, ros::Duration timeout);
+
+template<class M>
+class SubscribeHelper
+{
+public:
+  typedef boost::shared_ptr<M const> MConstPtr;
+  void callback(const MConstPtr& message)
+  {
+    message_ = message;
+  }
+
+  bool hasMessage()
+  {
+    return static_cast<bool>(message_);
+  }
+
+  MConstPtr getMessage()
+  {
+    return message_;
+  }
+
+private:
+  MConstPtr message_;
+};
+
+/**
+ * \brief Wait for a single message to arrive on a topic, with timeout
+ *
+ * \param M <template> The message type
+ * \param topic The topic to subscribe on
+ * \param nh The NodeHandle to use to do the subscription
+ * \param timeout The amount of time to wait before returning if no message is received
+ * \return The message.  Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
+ */
+template<class M>
+boost::shared_ptr<M const> waitForMessage(const std::string& topic, NodeHandle& nh, ros::Duration timeout)
+{
+  SubscribeHelper<M> helper;
+  SubscribeOptions ops;
+  ops.template init<M>(topic, 1, boost::bind(&SubscribeHelper<M>::callback, &helper, _1));
+
+  waitForMessageImpl(ops, boost::bind(&SubscribeHelper<M>::hasMessage, &helper), nh, timeout);
+
+  return helper.getMessage();
+}
+
+/**
+ * \brief Wait for a single message to arrive on a topic
+ *
+ * \param M <template> The message type
+ * \param topic The topic to subscribe on
+ * \return The message.  Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
+ */
+template<class M>
+boost::shared_ptr<M const> waitForMessage(const std::string& topic)
+{
+  ros::NodeHandle nh;
+  return waitForMessage<M>(topic, nh, ros::Duration());
+}
+
+/**
+ * \brief Wait for a single message to arrive on a topic, with timeout
+ *
+ * \param M <template> The message type
+ * \param topic The topic to subscribe on
+ * \param timeout The amount of time to wait before returning if no message is received
+ * \return The message.  Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
+ */
+template<class M>
+boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::Duration timeout)
+{
+  ros::NodeHandle nh;
+  return waitForMessage<M>(topic, nh, timeout);
+}
+
+/**
+ * \brief Wait for a single message to arrive on a topic
+ *
+ * \param M <template> The message type
+ * \param topic The topic to subscribe on
+ * \param nh The NodeHandle to use to do the subscription
+ * \return The message.  Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
+ */
+template<class M>
+boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::NodeHandle& nh)
+{
+  return waitForMessage<M>(topic, nh, ros::Duration());
+}
+
+} // namespace topic
+} // namespace ros
+
+#endif // ROSCPP_TOPIC_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/topic_manager.h

@@ -0,0 +1,239 @@
+/*
+ * 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 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_TOPIC_MANAGER_H
+#define ROSCPP_TOPIC_MANAGER_H
+
+#include "forwards.h"
+#include "common.h"
+#include "ros/serialization.h"
+#include "rosout_appender.h"
+
+#include "xmlrpcpp/XmlRpcValue.h"
+
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/recursive_mutex.hpp>
+
+namespace ros
+{
+
+class Message;
+struct SubscribeOptions;
+struct AdvertiseOptions;
+
+class TopicManager;
+typedef boost::shared_ptr<TopicManager> TopicManagerPtr;
+
+class PollManager;
+typedef boost::shared_ptr<PollManager> PollManagerPtr;
+
+class XMLRPCManager;
+typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
+
+class ConnectionManager;
+typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
+
+class SubscriptionCallbackHelper;
+typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
+
+class ROSCPP_DECL TopicManager
+{
+public:
+  static const TopicManagerPtr& instance();
+
+  TopicManager();
+  ~TopicManager();
+
+  void start();
+  void shutdown();
+
+  bool subscribe(const SubscribeOptions& ops);
+  bool unsubscribe(const std::string &_topic, const SubscriptionCallbackHelperPtr& helper);
+
+  bool advertise(const AdvertiseOptions& ops, const SubscriberCallbacksPtr& callbacks);
+  bool unadvertise(const std::string &topic, const SubscriberCallbacksPtr& callbacks);
+
+  /** @brief Get the list of topics advertised by this node
+   *
+   * @param[out] topics The advertised topics
+   */
+  void getAdvertisedTopics(V_string& topics);
+
+  /** @brief Get the list of topics subscribed to by this node
+   *
+   * @param[out] The subscribed topics
+   */
+  void getSubscribedTopics(V_string& topics);
+
+  /** @brief Lookup an advertised topic.
+   *
+   * This method iterates over advertised_topics, looking for one with name
+   * matching the given topic name.  The advertised_topics_mutex is locked
+   * during this search.  This method is only used internally.
+   *
+   * @param topic The topic name to look for.
+   *
+   * @returns Pointer to the matching Publication, NULL if none is found.
+   */
+  PublicationPtr lookupPublication(const std::string& topic);
+
+  /** @brief Return the number of subscribers a node has for a particular topic:
+   *
+   * @param _topic The topic name to check
+   *
+   * @return number of subscribers
+   */
+  size_t getNumSubscribers(const std::string &_topic);
+  size_t getNumSubscriptions();
+
+  /**
+   * \brief Return the number of publishers connected to this node on a particular topic
+   *
+   * \param _topic the topic name to check
+   * \return the number of subscribers
+   */
+  size_t getNumPublishers(const std::string &_topic);
+
+  template<typename M>
+  void publish(const std::string& topic, const M& message)
+  {
+    using namespace serialization;
+
+    SerializedMessage m;
+    publish(topic, boost::bind(serializeMessage<M>, boost::ref(message)), m);
+  }
+
+  void publish(const std::string &_topic, const boost::function<SerializedMessage(void)>& serfunc, SerializedMessage& m);
+
+  void incrementSequence(const std::string &_topic);
+  bool isLatched(const std::string& topic);
+
+private:
+  /** if it finds a pre-existing subscription to the same topic and of the
+   *  same message type, it appends the Functor to the callback vector for
+   *  that subscription. otherwise, it returns false, indicating that a new
+   *  subscription needs to be created.
+   */
+  bool addSubCallback(const SubscribeOptions& ops);
+
+  /** @brief Request a topic
+   *
+   * Negotiate a subscriber connection on a topic.
+   *
+   * @param topic The topic of interest.
+   * @param protos List of transport protocols, in preference order
+   * @param ret Return value
+   *
+   * @return true on success, false otherwise
+   *
+   * @todo Consider making this private
+   */
+  bool requestTopic(const std::string &topic, XmlRpc::XmlRpcValue &protos, XmlRpc::XmlRpcValue &ret);
+
+  // Must lock the advertised topics mutex before calling this function
+  bool isTopicAdvertised(const std::string& topic);
+
+  bool registerSubscriber(const SubscriptionPtr& s, const std::string& datatype);
+  bool unregisterSubscriber(const std::string& topic);
+  bool unregisterPublisher(const std::string& topic);
+
+  PublicationPtr lookupPublicationWithoutLock(const std::string &topic);
+
+  void processPublishQueues();
+
+  /** @brief Compute the statistics for the node's connectivity
+   *
+   * This is the implementation of the xml-rpc getBusStats function;
+   * it populates the XmlRpcValue object sent to it with various statistics
+   * about the node's connectivity, bandwidth utilization, etc.
+   */
+  void getBusStats(XmlRpc::XmlRpcValue &stats);
+
+  /** @brief Compute the info for the node's connectivity
+   *
+   * This is the implementation of the xml-rpc getBusInfo function;
+   * it populates the XmlRpcValue object sent to it with various info
+   * about the node's connectivity.
+   */
+  void getBusInfo(XmlRpc::XmlRpcValue &info);
+
+  /** @brief Return the list of subcriptions for the node
+   *
+   * This is the implementation of the xml-rpc getSubscriptions
+   * function; it populates the XmlRpcValue object sent to it with the
+   * list of subscribed topics and their datatypes.
+   */
+  void getSubscriptions(XmlRpc::XmlRpcValue &subscriptions);
+
+  /** @brief Return the list of advertised topics for the node
+   *
+   * This is the implementation of the xml-rpc getPublications
+   * function; it populates the XmlRpcValue object sent to it with the
+   * list of advertised topics and their datatypes.
+   */
+  void getPublications(XmlRpc::XmlRpcValue &publications);
+
+  /** @brief Update local publisher lists.
+   *
+   * Use this method to update address information for publishers on a
+   * given topic.
+   *
+   * @param topic The topic of interest
+   * @param pubs The list of publishers to update.
+   *
+   * @return true on success, false otherwise.
+   */
+  bool pubUpdate(const std::string &topic, const std::vector<std::string> &pubs);
+
+  void pubUpdateCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
+  void requestTopicCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
+  void getBusStatsCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
+  void getBusInfoCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
+  void getSubscriptionsCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
+  void getPublicationsCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result);
+
+  bool isShuttingDown() { return shutting_down_; }
+
+  boost::mutex subs_mutex_;
+  L_Subscription subscriptions_;
+
+  boost::recursive_mutex advertised_topics_mutex_;
+  V_Publication advertised_topics_;
+  std::list<std::string> advertised_topic_names_;
+  boost::mutex advertised_topic_names_mutex_;
+
+  volatile bool shutting_down_;
+  boost::mutex shutting_down_mutex_;
+
+  PollManagerPtr poll_manager_;
+  ConnectionManagerPtr connection_manager_;
+  XMLRPCManagerPtr xmlrpc_manager_;
+};
+
+} // namespace ros
+
+#endif // ROSCPP_TOPIC_MANAGER_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/transport/transport.h

@@ -0,0 +1,156 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 ROSCPP_TRANSPORT_H
+#define ROSCPP_TRANSPORT_H
+
+#include <ros/types.h>
+#include <boost/function.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/enable_shared_from_this.hpp>
+#include <vector>
+
+namespace ros
+{
+
+class Transport;
+typedef boost::shared_ptr<Transport> TransportPtr;
+
+class Header;
+
+/**
+ * \brief Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory, UDP...
+ */
+class Transport : public boost::enable_shared_from_this<Transport>
+{
+public:
+  Transport();
+  virtual ~Transport() {}
+
+  /**
+   * \brief Read a number of bytes into the supplied buffer.  Not guaranteed to actually read that number of bytes.
+   * \param buffer Buffer to read from
+   * \param size Size, in bytes, to read
+   * \return The number of bytes actually read, or -1 if there was an error
+   */
+  virtual int32_t read(uint8_t* buffer, uint32_t size) = 0;
+  /**
+   * \brief Write a number of bytes from the supplied buffer.  Not guaranteed to actually write that number of bytes.
+   * \param buffer Buffer to write from
+   * \param size Size, in bytes, to write
+   * \return The number of bytes actually written, or -1 if there was an error
+   */
+  virtual int32_t write(uint8_t* buffer, uint32_t size) = 0;
+
+  /**
+   * \brief Enable writing on this transport.  Allows derived classes to, for example, enable write polling for asynchronous sockets
+   */
+  virtual void enableWrite() = 0;
+  /**
+   * \brief Disable writing on this transport.  Allows derived classes to, for example, disable write polling for asynchronous sockets
+   */
+  virtual void disableWrite() = 0;
+
+  /**
+   * \brief Enable reading on this transport.  Allows derived classes to, for example, enable read polling for asynchronous sockets
+   */
+  virtual void enableRead() = 0;
+  /**
+   * \brief Disable reading on this transport.  Allows derived classes to, for example, disable read polling for asynchronous sockets
+   */
+  virtual void disableRead() = 0;
+
+  /**
+   * \brief Close this transport.  Once this call has returned, writing on this transport should always return an error.
+   */
+  virtual void close() = 0;
+
+  /**
+   * \brief Return a string that details the type of transport (Eg. TCPROS)
+   * \return The stringified transport type
+   */
+  virtual const char* getType() = 0;
+
+  typedef boost::function<void(const TransportPtr&)> Callback;
+  /**
+   * \brief Set the function to call when this transport has disconnected, either through a call to close(). Or a disconnect from the remote host.
+   */
+  void setDisconnectCallback(const Callback& cb) { disconnect_cb_ = cb; }
+  /**
+   * \brief Set the function to call when there is data available to be read by this transport
+   */
+  void setReadCallback(const Callback& cb) { read_cb_ = cb; }
+  /**
+   * \brief Set the function to call when there is space available to write on this transport
+   */
+  void setWriteCallback(const Callback& cb) { write_cb_ = cb; }
+
+  /**
+   * \brief Returns a string description of both the type of transport and who the transport is connected to
+   */
+  virtual std::string getTransportInfo() = 0;
+
+  /**
+   * \brief Returns a boolean to indicate if the transport mechanism is reliable or not
+   */
+  virtual bool requiresHeader() {return true;}
+
+  /**
+   * \brief Provides an opportunity for transport-specific options to come in through the header
+   */
+  virtual void parseHeader(const Header& header) { (void)header; }
+
+protected:
+  Callback disconnect_cb_;
+  Callback read_cb_;
+  Callback write_cb_;
+
+  /**
+   * \brief returns true if the transport is allowed to connect to the host passed to it.
+   */
+  bool isHostAllowed(const std::string &host) const;
+
+  /**
+   * \brief returns true if this transport is only allowed to talk to localhost
+   */
+  bool isOnlyLocalhostAllowed() const { return only_localhost_allowed_; }
+
+private:
+  bool only_localhost_allowed_;
+  std::vector<std::string> allowed_hosts_;
+};
+
+}
+
+#endif // ROSCPP_TRANSPORT_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/transport/transport_tcp.h

@@ -0,0 +1,171 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 ROSCPP_TRANSPORT_TCP_H
+#define ROSCPP_TRANSPORT_TCP_H
+
+#include <ros/types.h>
+#include <ros/transport/transport.h>
+
+#include <boost/thread/recursive_mutex.hpp>
+#include "ros/io.h"
+#include <ros/common.h>
+
+namespace ros
+{
+
+class TransportTCP;
+typedef boost::shared_ptr<TransportTCP> TransportTCPPtr;
+
+class PollSet;
+
+/**
+ * \brief TCPROS transport
+ */
+class ROSCPP_DECL TransportTCP : public Transport
+{
+public:
+  static bool s_use_keepalive_;
+  static bool s_use_ipv6_;
+
+public:
+  enum Flags
+  {
+    SYNCHRONOUS = 1<<0,
+  };
+
+  TransportTCP(PollSet* poll_set, int flags = 0);
+  virtual ~TransportTCP();
+
+  /**
+   * \brief Connect to a remote host.
+   * \param host The hostname/IP to connect to
+   * \param port The port to connect to
+   * \return Whether or not the connection was successful
+   */
+  bool connect(const std::string& host, int port);
+
+  /**
+   * \brief Returns the URI of the remote host
+   */
+  std::string getClientURI();
+
+  typedef boost::function<void(const TransportTCPPtr&)> AcceptCallback;
+  /**
+   * \brief Start a server socket and listen on a port
+   * \param port The port to listen on
+   * \param backlog defines the maximum length for the queue of pending connections.  Identical to the backlog parameter to the ::listen function
+   * \param accept_cb The function to call when a client socket has connected
+   */
+  bool listen(int port, int backlog, const AcceptCallback& accept_cb);
+  /**
+   * \brief Accept a connection on a server socket.  Blocks until a connection is available
+   */
+  TransportTCPPtr accept();
+  /**
+   * \brief Returns the port this transport is listening on
+   */
+  int getServerPort() { return server_port_; }
+  int getLocalPort() { return local_port_; }
+
+  void setNoDelay(bool nodelay);
+  void setKeepAlive(bool use, uint32_t idle, uint32_t interval, uint32_t count);
+
+  const std::string& getConnectedHost() { return connected_host_; }
+  int getConnectedPort() { return connected_port_; }
+
+  // overrides from Transport
+  virtual int32_t read(uint8_t* buffer, uint32_t size);
+  virtual int32_t write(uint8_t* buffer, uint32_t size);
+
+  virtual void enableWrite();
+  virtual void disableWrite();
+  virtual void enableRead();
+  virtual void disableRead();
+
+  virtual void close();
+
+  virtual std::string getTransportInfo();
+
+  virtual void parseHeader(const Header& header);
+
+  virtual const char* getType() { return "TCPROS"; }
+
+private:
+  /**
+   * \brief Initializes the assigned socket -- sets it to non-blocking and enables reading
+   */
+  bool initializeSocket();
+
+  bool setNonBlocking();
+
+  /**
+   * \brief Set the socket to be used by this transport
+   * \param sock A valid TCP socket
+   * \return Whether setting the socket was successful
+   */
+  bool setSocket(int sock);
+
+  void socketUpdate(int events);
+
+  socket_fd_t sock_;
+  bool closed_;
+  boost::recursive_mutex close_mutex_;
+
+  bool expecting_read_;
+  bool expecting_write_;
+
+  bool is_server_;
+  sockaddr_storage server_address_;
+  socklen_t sa_len_;
+  sockaddr_storage local_address_;
+  socklen_t la_len_;
+
+  int server_port_;
+  int local_port_;
+  AcceptCallback accept_cb_;
+
+  std::string cached_remote_host_;
+
+  PollSet* poll_set_;
+  int flags_;
+
+  std::string connected_host_;
+  int connected_port_;
+};
+
+}
+
+#endif // ROSCPP_TRANSPORT_TCP_H
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/transport/transport_udp.h

@@ -0,0 +1,177 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  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 ROSCPP_TRANSPORT_UDP_H
+#define ROSCPP_TRANSPORT_UDP_H
+
+#include <ros/types.h>
+#include <ros/transport/transport.h>
+
+#include <boost/thread/mutex.hpp>
+#include "ros/io.h"
+#include <ros/common.h>
+
+namespace ros
+{
+
+class TransportUDP;
+typedef boost::shared_ptr<TransportUDP> TransportUDPPtr;
+
+class PollSet;
+
+#define ROS_UDP_DATA0 0
+#define ROS_UDP_DATAN 1
+#define ROS_UDP_PING 2
+#define ROS_UDP_ERR 3
+typedef struct TransportUDPHeader {
+  uint32_t connection_id_;
+  uint8_t op_;
+  uint8_t message_id_;
+  uint16_t block_;
+} TransportUDPHeader;
+
+/**
+ * \brief UDPROS transport
+ */
+class ROSCPP_DECL TransportUDP : public Transport
+{
+public:
+  enum Flags
+  {
+    SYNCHRONOUS = 1<<0,
+  };
+
+  TransportUDP(PollSet* poll_set, int flags = 0, int max_datagram_size = 0);
+  virtual ~TransportUDP();
+
+  /**
+   * \brief Connect to a remote host.
+   * \param host The hostname/IP to connect to
+   * \param port The port to connect to
+   * \return Whether or not the connection was successful
+   */
+  bool connect(const std::string& host, int port, int conn_id);
+
+  /**
+   * \brief Returns the URI of the remote host
+   */
+  std::string getClientURI();
+
+  /**
+   * \brief Start a server socket and listen on a port
+   * \param port The port to listen on
+   */
+  bool createIncoming(int port, bool is_server);
+  /**
+   * \brief Create a connection to a server socket.
+   */
+  TransportUDPPtr createOutgoing(std::string host, int port, int conn_id, int max_datagram_size);
+  /**
+   * \brief Returns the port this transport is listening on
+   */
+  int getServerPort() const {return server_port_;}
+
+  // overrides from Transport
+  virtual int32_t read(uint8_t* buffer, uint32_t size);
+  virtual int32_t write(uint8_t* buffer, uint32_t size);
+
+  virtual void enableWrite();
+  virtual void disableWrite();
+  virtual void enableRead();
+  virtual void disableRead();
+
+  virtual void close();
+
+  virtual std::string getTransportInfo();
+
+  virtual bool requiresHeader() {return false;}
+
+  virtual const char* getType() {return "UDPROS";}
+
+  int getMaxDatagramSize() const {return max_datagram_size_;}
+
+private:
+  /**
+   * \brief Initializes the assigned socket -- sets it to non-blocking and enables reading
+   */
+  bool initializeSocket();
+
+  /**
+   * \brief Set the socket to be used by this transport
+   * \param sock A valid UDP socket
+   * \return Whether setting the socket was successful
+   */
+  bool setSocket(int sock);
+
+  void socketUpdate(int events);
+
+  socket_fd_t sock_;
+  bool closed_;
+  boost::mutex close_mutex_;
+
+  bool expecting_read_;
+  bool expecting_write_;
+
+  bool is_server_;
+  sockaddr_in server_address_;
+  sockaddr_in local_address_;
+  int server_port_;
+  int local_port_;
+
+  std::string cached_remote_host_;
+
+  PollSet* poll_set_;
+  int flags_;
+
+  uint32_t connection_id_;
+  uint8_t current_message_id_;
+  uint16_t total_blocks_;
+  uint16_t last_block_;
+
+  uint32_t max_datagram_size_;
+
+  uint8_t* data_buffer_;
+  uint8_t* data_start_;
+  uint32_t data_filled_;
+
+  uint8_t* reorder_buffer_;
+  uint8_t* reorder_start_;
+  TransportUDPHeader reorder_header_;
+  uint32_t reorder_bytes_;
+};
+
+}
+
+#endif // ROSCPP_TRANSPORT_UDP_H
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/transport_hints.h

@@ -0,0 +1,169 @@
+/*
+ * 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

thirdparty/ros/ros_comm/clients/roscpp/include/ros/transport_publisher_link.h

@@ -0,0 +1,96 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_PUBLISHER_LINK_H
+#define ROSCPP_TRANSPORT_PUBLISHER_LINK_H
+
+#include "common.h"
+#include "publisher_link.h"
+#include "connection.h"
+
+namespace ros
+{
+class Header;
+class Message;
+class Subscription;
+typedef boost::shared_ptr<Subscription> SubscriptionPtr;
+typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
+class Connection;
+typedef boost::shared_ptr<Connection> ConnectionPtr;
+
+struct SteadyTimerEvent;
+
+/**
+ * \brief Handles a connection to a single publisher on a given topic.  Receives messages from a publisher
+ * and hands them off to its parent Subscription
+ */
+class ROSCPP_DECL TransportPublisherLink : public PublisherLink
+{
+public:
+  TransportPublisherLink(const SubscriptionPtr& parent, const std::string& xmlrpc_uri, const TransportHints& transport_hints);
+  virtual ~TransportPublisherLink();
+
+  //
+  bool initialize(const ConnectionPtr& connection);
+
+  const ConnectionPtr& getConnection() { return connection_; }
+
+  virtual std::string getTransportType();
+  virtual std::string getTransportInfo();
+  virtual void drop();
+
+private:
+  void onConnectionDropped(const ConnectionPtr& conn, Connection::DropReason reason);
+  bool onHeaderReceived(const ConnectionPtr& conn, const Header& header);
+
+  /**
+   * \brief Handles handing off a received message to the subscription, where it will be deserialized and called back
+   */
+  virtual void handleMessage(const SerializedMessage& m, bool ser, bool nocopy);
+
+  void onHeaderWritten(const ConnectionPtr& conn);
+  void onMessageLength(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+  void onMessage(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
+
+  void onRetryTimer(const ros::SteadyTimerEvent&);
+
+  ConnectionPtr connection_;
+
+  int32_t retry_timer_handle_;
+  bool needs_retry_;
+  WallDuration retry_period_;
+  SteadyTime next_retry_;
+  bool dropping_;
+};
+typedef boost::shared_ptr<TransportPublisherLink> TransportPublisherLinkPtr;
+
+} // namespace ros
+
+#endif // ROSCPP_TRANSPORT_PUBLISHER_LINK_H
+
+
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/transport_subscriber_link.h

@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and 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_SUBSCRIBER_LINK_H
+#define ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H
+#include "common.h"
+#include "subscriber_link.h"
+
+#include <boost/signals2/connection.hpp>
+
+namespace ros
+{
+
+/**
+ * \brief SubscriberLink handles broadcasting messages to a single subscriber on a single topic
+ */
+class ROSCPP_DECL TransportSubscriberLink : public SubscriberLink
+{
+public:
+  TransportSubscriberLink();
+  virtual ~TransportSubscriberLink();
+
+  //
+  bool initialize(const ConnectionPtr& connection);
+  bool handleHeader(const Header& header);
+
+  const ConnectionPtr& getConnection() { return connection_; }
+
+  virtual void enqueueMessage(const SerializedMessage& m, bool ser, bool nocopy);
+  virtual void drop();
+  virtual std::string getTransportType();
+  virtual std::string getTransportInfo();
+
+private:
+  void onConnectionDropped(const ConnectionPtr& conn);
+
+  void onHeaderWritten(const ConnectionPtr& conn);
+  void onMessageWritten(const ConnectionPtr& conn);
+  void startMessageWrite(bool immediate_write);
+
+  bool writing_message_;
+  bool header_written_;
+
+  ConnectionPtr connection_;
+  boost::signals2::connection dropped_conn_;
+
+  std::queue<SerializedMessage> outbox_;
+  boost::mutex outbox_mutex_;
+  bool queue_full_;
+};
+typedef boost::shared_ptr<TransportSubscriberLink> TransportSubscriberLinkPtr;
+
+} // namespace ros
+
+#endif // ROSCPP_TRANSPORT_SUBSCRIBER_LINK_H

thirdparty/ros/ros_comm/clients/roscpp/include/ros/wall_timer.h

@@ -0,0 +1,128 @@
+/*
+ * 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_WALL_TIMER_H
+#define ROSCPP_WALL_TIMER_H
+
+#include "common.h"
+#include "forwards.h"
+#include "wall_timer_options.h"
+
+namespace ros
+{
+
+/**
+ * \brief Manages a wall-clock timer callback
+ *
+ * A WallTimer should always be created through a call to NodeHandle::createWallTimer(), or copied from one
+ * that was. Once all copies of a specific
+ * WallTimer go out of scope, the callback associated with that handle will stop
+ * being called.
+ */
+class ROSCPP_DECL WallTimer
+{
+public:
+  WallTimer() {}
+  WallTimer(const WallTimer& rhs);
+  ~WallTimer();
+
+  /**
+   * \brief Start the timer.  Does nothing if the timer is already started.
+   */
+  void start();
+  /**
+   * \brief Stop the timer.  Once this call returns, no more callbacks will be called.  Does
+   * nothing if the timer is already stopped.
+   */
+  void stop();
+
+  /**
+   * \brief Returns whether or not the timer has any pending events to call.
+   */
+  bool hasPending();
+
+  /**
+   * \brief Set the period of this timer
+   * \param reset Whether to reset the timer. If true, timer ignores elapsed time and next cb occurs at now()+period
+   */
+  void setPeriod(const WallDuration& period, bool reset=true);
+
+  bool isValid() { return impl_ && impl_->isValid(); }
+  operator void*() { return isValid() ? (void*)1 : (void*)0; }
+
+  bool operator<(const WallTimer& rhs)
+  {
+    return impl_ < rhs.impl_;
+  }
+
+  bool operator==(const WallTimer& rhs)
+  {
+    return impl_ == rhs.impl_;
+  }
+
+  bool operator!=(const WallTimer& rhs)
+  {
+    return impl_ != rhs.impl_;
+  }
+
+private:
+  WallTimer(const WallTimerOptions& ops);
+
+  class Impl
+  {
+  public:
+    Impl();
+    ~Impl();
+
+    bool isValid();
+    bool hasPending();
+    void setPeriod(const WallDuration& period, bool reset=true);
+
+    void start();
+    void stop();
+
+    bool started_;
+    int32_t timer_handle_;
+
+    WallDuration period_;
+    WallTimerCallback callback_;
+    CallbackQueueInterface* callback_queue_;
+    VoidConstWPtr tracked_object_;
+    bool has_tracked_object_;
+    bool oneshot_;
+  };
+  typedef boost::shared_ptr<Impl> ImplPtr;
+  typedef boost::weak_ptr<Impl> ImplWPtr;
+
+  ImplPtr impl_;
+
+  friend class NodeHandle;
+};
+
+}
+
+#endif

thirdparty/ros/ros_comm/clients/roscpp/include/ros/wall_timer_options.h

@@ -0,0 +1,86 @@
+/*
+ * 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_WALL_TIMER_OPTIONS_H
+#define ROSCPP_WALL_TIMER_OPTIONS_H
+
+#include "common.h"
+#include "ros/forwards.h"
+
+namespace ros
+{
+
+/**
+ * \brief Encapsulates all options available for starting a timer
+ */
+struct ROSCPP_DECL WallTimerOptions
+{
+  WallTimerOptions()
+  : period(0.1)
+  , callback_queue(0)
+  , oneshot(false)
+  , autostart(true)
+  {
+  }
+
+  /*
+   * \brief Constructor
+   * \param
+   */
+  WallTimerOptions(WallDuration _period, const WallTimerCallback& _callback, CallbackQueueInterface* _queue, 
+                   bool oneshot = false, bool autostart = true)
+  : period(_period)
+  , callback(_callback)
+  , callback_queue(_queue)
+  , oneshot(oneshot)
+  , autostart(autostart)
+  {}
+
+  WallDuration period;                                              ///< The period to call the callback at
+  WallTimerCallback callback;                                       ///< The callback to call
+
+  CallbackQueueInterface* callback_queue;                           ///< Queue to add callbacks to.  If NULL, the global callback queue will be used
+
+  /**
+   * A shared pointer to an object to track for these callbacks.  If set, the a weak_ptr will be created to this object,
+   * and if the reference count goes to 0 the subscriber callbacks will not get called.
+   *
+   * \note Note that setting this will cause a new reference to be added to the object before the
+   * callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore
+   * thread) that the callback is invoked from.
+   */
+  VoidConstPtr tracked_object;
+
+  bool oneshot;
+  bool autostart;
+};
+
+
+}
+
+#endif
+

thirdparty/ros/ros_comm/clients/roscpp/include/ros/xmlrpc_manager.h

@@ -0,0 +1,178 @@
+/*
+ * 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 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_XMLRPC_MANAGER_H
+#define ROSCPP_XMLRPC_MANAGER_H
+
+#include <string>
+#include <set>
+#include <boost/function.hpp>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include <boost/enable_shared_from_this.hpp>
+
+#include "common.h"
+#include "xmlrpcpp/XmlRpc.h"
+
+#include <ros/time.h>
+
+
+namespace ros
+{
+
+/**
+ * \brief internal
+ */
+namespace xmlrpc
+{
+XmlRpc::XmlRpcValue responseStr(int code, const std::string& msg, const std::string& response);
+XmlRpc::XmlRpcValue responseInt(int code, const std::string& msg, int response);
+XmlRpc::XmlRpcValue responseBool(int code, const std::string& msg, bool response);
+}
+
+class XMLRPCCallWrapper;
+typedef boost::shared_ptr<XMLRPCCallWrapper> XMLRPCCallWrapperPtr;
+
+class ROSCPP_DECL ASyncXMLRPCConnection : public boost::enable_shared_from_this<ASyncXMLRPCConnection>
+{
+public:
+  virtual ~ASyncXMLRPCConnection() {}
+
+  virtual void addToDispatch(XmlRpc::XmlRpcDispatch* disp) = 0;
+  virtual void removeFromDispatch(XmlRpc::XmlRpcDispatch* disp) = 0;
+
+  virtual bool check() = 0;
+};
+typedef boost::shared_ptr<ASyncXMLRPCConnection> ASyncXMLRPCConnectionPtr;
+typedef std::set<ASyncXMLRPCConnectionPtr> S_ASyncXMLRPCConnection;
+
+class ROSCPP_DECL CachedXmlRpcClient
+{
+public:
+  CachedXmlRpcClient(XmlRpc::XmlRpcClient *c)
+  : in_use_(false)
+  , client_(c)
+  {
+  }
+
+  bool in_use_;
+  ros::SteadyTime last_use_time_; // for reaping
+  XmlRpc::XmlRpcClient* client_;
+
+  static const ros::WallDuration s_zombie_time_; // how long before it is toasted
+};
+
+class XMLRPCManager;
+typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
+
+typedef boost::function<void(XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue&)> XMLRPCFunc;
+
+class ROSCPP_DECL XMLRPCManager
+{
+public:
+  static const XMLRPCManagerPtr& instance();
+
+  XMLRPCManager();
+  ~XMLRPCManager();
+
+  /** @brief Validate an XML/RPC response
+   *
+   * @param method The RPC method that was invoked.
+   * @param response The resonse that was received.
+   * @param payload The payload that was received.
+   *
+   * @return true if validation succeeds, false otherwise.
+   *
+   * @todo Consider making this private.
+   */
+  bool validateXmlrpcResponse(const std::string& method, 
+			      XmlRpc::XmlRpcValue &response, XmlRpc::XmlRpcValue &payload);
+
+  /**
+   * @brief Get the xmlrpc server URI of this node
+   */
+  inline const std::string& getServerURI() const { return uri_; }
+  inline uint32_t getServerPort() const { return port_; }
+
+  XmlRpc::XmlRpcClient* getXMLRPCClient(const std::string& host, const int port, const std::string& uri);
+  void releaseXMLRPCClient(XmlRpc::XmlRpcClient* c);
+
+  void addASyncConnection(const ASyncXMLRPCConnectionPtr& conn);
+  void removeASyncConnection(const ASyncXMLRPCConnectionPtr& conn);
+
+  bool bind(const std::string& function_name, const XMLRPCFunc& cb);
+  void unbind(const std::string& function_name);
+
+  void start();
+  void shutdown();
+
+  bool isShuttingDown() { return shutting_down_; }
+
+private:
+  void serverThreadFunc();
+
+  std::string uri_;
+  int port_;
+  boost::thread server_thread_;
+
+#if defined(__APPLE__)
+  // OSX has problems with lots of concurrent xmlrpc calls
+  boost::mutex xmlrpc_call_mutex_;
+#endif
+  XmlRpc::XmlRpcServer server_;
+  typedef std::vector<CachedXmlRpcClient> V_CachedXmlRpcClient;
+  V_CachedXmlRpcClient clients_;
+  boost::mutex clients_mutex_;
+
+  bool shutting_down_;
+
+  ros::WallDuration master_retry_timeout_;
+
+  S_ASyncXMLRPCConnection added_connections_;
+  boost::mutex added_connections_mutex_;
+  S_ASyncXMLRPCConnection removed_connections_;
+  boost::mutex removed_connections_mutex_;
+
+  S_ASyncXMLRPCConnection connections_;
+
+
+  struct FunctionInfo
+  {
+    std::string name;
+    XMLRPCFunc function;
+    XMLRPCCallWrapperPtr wrapper;
+  };
+  typedef std::map<std::string, FunctionInfo> M_StringToFuncInfo;
+  boost::mutex functions_mutex_;
+  M_StringToFuncInfo functions_;
+
+  volatile bool unbind_requested_;
+};
+
+}
+
+#endif