/usr/include/ros/subscription.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) 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
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