bool ConnectionManager::onConnectionHeaderReceived(const ConnectionPtr& conn, const ros::Header& header)
{
bool ret = false;
std::string val;
if (header.getValue("topic", val))
{
ROSCPP_LOG_DEBUG("Connection: Creating TransportSubscriberLink for topic [%s] connected to [%s]",
val.c_str(), conn->getRemoteString().c_str());
TransportSubscriberLinkPtr sub_link(new TransportSubscriberLink());
sub_link->initialize(conn);
ret = sub_link->handleHeader(header);
}
else if (header.getValue("service", val))
{
ROSCPP_LOG_DEBUG("Connection: Creating ServiceClientLink for service [%s] connected to [%s]",
val.c_str(), conn->getRemoteString().c_str());
ServiceClientLinkPtr link(new ServiceClientLink());
link->initialize(conn);
ret = link->handleHeader(header);
}
else
{
ROSCPP_LOG_DEBUG("Got a connection for a type other than 'topic' or 'service' from [%s]. Fail.",
conn->getRemoteString().c_str());
return false;
}
return ret;
}
void ServiceServerLink::onConnectionDropped(const ConnectionPtr& conn)
{
ROS_ASSERT(conn == connection_);
ROSCPP_LOG_DEBUG("Service client from [%s] for [%s] dropped", conn->getRemoteString().c_str(), service_name_.c_str());
dropped_ = true;
clearCalls();
ServiceManager::instance()->removeServiceServerLink(shared_from_this());
}
