.. _program_listing_file_include_rclcpp_experimental_subscription_intra_process_buffer.hpp:

Program Listing for File subscription_intra_process_buffer.hpp
==============================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_experimental_subscription_intra_process_buffer.hpp>` (``include/rclcpp/experimental/subscription_intra_process_buffer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_
   #define RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_
   
   #include <memory>
   #include <string>
   #include <stdexcept>
   #include <utility>
   
   #include "rcl/error_handling.h"
   #include "rcl/guard_condition.h"
   #include "rcl/wait.h"
   
   #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
   #include "rclcpp/experimental/create_intra_process_buffer.hpp"
   #include "rclcpp/experimental/subscription_intra_process_base.hpp"
   #include "rclcpp/experimental/ros_message_intra_process_buffer.hpp"
   #include "rclcpp/qos.hpp"
   #include "rclcpp/type_support_decl.hpp"
   
   namespace rclcpp
   {
   namespace experimental
   {
   
   template<
     typename SubscribedType,
     typename Alloc = std::allocator<SubscribedType>,
     typename Deleter = std::default_delete<SubscribedType>,
     typename ROSMessageType = SubscribedType
   >
   class SubscriptionIntraProcessBuffer : public SubscriptionROSMsgIntraProcessBuffer<ROSMessageType,
       typename allocator::AllocRebind<ROSMessageType, Alloc>::allocator_type,
       allocator::Deleter<typename allocator::AllocRebind<ROSMessageType, Alloc>::allocator_type,
       ROSMessageType>>
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(SubscriptionIntraProcessBuffer)
   
     using SubscribedTypeAllocatorTraits = allocator::AllocRebind<SubscribedType, Alloc>;
     using SubscribedTypeAllocator = typename SubscribedTypeAllocatorTraits::allocator_type;
     using SubscribedTypeDeleter = allocator::Deleter<SubscribedTypeAllocator, SubscribedType>;
   
     using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, Alloc>;
     using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type;
     using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>;
   
     using ConstMessageSharedPtr = std::shared_ptr<const ROSMessageType>;
     using MessageUniquePtr = std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter>;
   
     using ConstDataSharedPtr = std::shared_ptr<const SubscribedType>;
     using SubscribedTypeUniquePtr = std::unique_ptr<SubscribedType, SubscribedTypeDeleter>;
   
     using BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<
       SubscribedType,
       Alloc,
       SubscribedTypeDeleter
       >::UniquePtr;
   
     SubscriptionIntraProcessBuffer(
       std::shared_ptr<Alloc> allocator,
       rclcpp::Context::SharedPtr context,
       const std::string & topic_name,
       const rclcpp::QoS & qos_profile,
       rclcpp::IntraProcessBufferType buffer_type)
     : SubscriptionROSMsgIntraProcessBuffer<ROSMessageType, ROSMessageTypeAllocator,
         ROSMessageTypeDeleter>(
         context, topic_name, qos_profile),
       subscribed_type_allocator_(*allocator)
     {
       allocator::set_allocator_for_deleter(&subscribed_type_deleter_, &subscribed_type_allocator_);
   
       // Create the intra-process buffer.
       buffer_ = rclcpp::experimental::create_intra_process_buffer<SubscribedType, Alloc,
           SubscribedTypeDeleter>(
         buffer_type,
         qos_profile,
         std::make_shared<Alloc>(subscribed_type_allocator_));
     }
   
     bool
     is_ready(rcl_wait_set_t * wait_set) override
     {
       (void) wait_set;
       return buffer_->has_data();
     }
   
     SubscribedTypeUniquePtr
     convert_ros_message_to_subscribed_type_unique_ptr(const ROSMessageType & msg)
     {
       if constexpr (!std::is_same<SubscribedType, ROSMessageType>::value) {
         auto ptr = SubscribedTypeAllocatorTraits::allocate(subscribed_type_allocator_, 1);
         SubscribedTypeAllocatorTraits::construct(subscribed_type_allocator_, ptr);
         rclcpp::TypeAdapter<SubscribedType, ROSMessageType>::convert_to_custom(msg, *ptr);
         return SubscribedTypeUniquePtr(ptr, subscribed_type_deleter_);
       } else {
         throw std::runtime_error(
                 "convert_ros_message_to_subscribed_type_unique_ptr "
                 "unexpectedly called without TypeAdapter");
       }
     }
   
     void
     provide_intra_process_message(ConstMessageSharedPtr message) override
     {
       if constexpr (std::is_same<SubscribedType, ROSMessageType>::value) {
         buffer_->add_shared(std::move(message));
         trigger_guard_condition();
       } else {
         buffer_->add_shared(convert_ros_message_to_subscribed_type_unique_ptr(*message));
         trigger_guard_condition();
       }
       this->invoke_on_new_message();
     }
   
     void
     provide_intra_process_message(MessageUniquePtr message) override
     {
       if constexpr (std::is_same<SubscribedType, ROSMessageType>::value) {
         buffer_->add_unique(std::move(message));
         trigger_guard_condition();
       } else {
         buffer_->add_unique(convert_ros_message_to_subscribed_type_unique_ptr(*message));
         trigger_guard_condition();
       }
       this->invoke_on_new_message();
     }
   
     void
     provide_intra_process_data(ConstDataSharedPtr message)
     {
       buffer_->add_shared(std::move(message));
       trigger_guard_condition();
       this->invoke_on_new_message();
     }
   
     void
     provide_intra_process_data(SubscribedTypeUniquePtr message)
     {
       buffer_->add_unique(std::move(message));
       trigger_guard_condition();
       this->invoke_on_new_message();
     }
   
     bool
     use_take_shared_method() const override
     {
       return buffer_->use_take_shared_method();
     }
   
   protected:
     void
     trigger_guard_condition() override
     {
       this->gc_.trigger();
     }
   
     BufferUniquePtr buffer_;
     SubscribedTypeAllocator subscribed_type_allocator_;
     SubscribedTypeDeleter subscribed_type_deleter_;
   };
   
   }  // namespace experimental
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXPERIMENTAL__SUBSCRIPTION_INTRA_PROCESS_BUFFER_HPP_