/usr/include/ros/advertise_options.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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* 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
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