advertise_options.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
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 */

#ifndef ROSCPP_ADVERTISE_OPTIONS_H
#define ROSCPP_ADVERTISE_OPTIONS_H

#include "ros/forwards.h"
#include "ros/message_traits.h"
#include "common.h"

namespace ros
{

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)
  {}

  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;                                                
  uint32_t queue_size;                                              

  std::string md5sum;                                               
  std::string datatype;                                             
  std::string message_definition;                                   

  SubscriberStatusCallback connect_cb;                              
  SubscriberStatusCallback disconnect_cb;                           

  CallbackQueueInterface* callback_queue;                           

  VoidConstPtr tracked_object;

  bool latch;

  bool has_header;


  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