/usr/include/ros/subscribe_options.h is in libroscpp-dev 1.11.16-3.
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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_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 = SubscriptionCallbackHelperPtr(new 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 = SubscriptionCallbackHelperPtr(new 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
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