subscribe_options.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_SUBSCRIBE_OPTIONS_H
00029 #define ROSCPP_SUBSCRIBE_OPTIONS_H
00030 
00031 #include "ros/forwards.h"
00032 #include "common.h"
00033 #include "ros/transport_hints.h"
00034 #include "ros/message_traits.h"
00035 #include "subscription_callback_helper.h"
00036 
00037 namespace ros
00038 {
00039 
00043 struct ROSCPP_DECL SubscribeOptions
00044 {
00048   SubscribeOptions()
00049   : queue_size(1)
00050   , callback_queue(0)
00051   , allow_concurrent_callbacks(false)
00052   {
00053   }
00054 
00064   SubscribeOptions(const std::string& _topic, uint32_t _queue_size, const std::string& _md5sum, const std::string& _datatype)
00065   : topic(_topic)
00066   , queue_size(_queue_size)
00067   , md5sum(_md5sum)
00068   , datatype(_datatype)
00069   , callback_queue(0)
00070   , allow_concurrent_callbacks(false)
00071   {}
00072 
00081   template<class P>
00082   void initByFullCallbackType(const std::string& _topic, uint32_t _queue_size,
00083        const boost::function<void (P)>& _callback,
00084        const boost::function<boost::shared_ptr<typename ParameterAdapter<P>::Message>(void)>& factory_fn = DefaultMessageCreator<typename ParameterAdapter<P>::Message>())
00085   {
00086     typedef typename ParameterAdapter<P>::Message MessageType;
00087     topic = _topic;
00088     queue_size = _queue_size;
00089     md5sum = message_traits::md5sum<MessageType>();
00090     datatype = message_traits::datatype<MessageType>();
00091     helper = boost::make_shared<SubscriptionCallbackHelperT<P> >(_callback, factory_fn);
00092   }
00093 
00102   template<class M>
00103   void init(const std::string& _topic, uint32_t _queue_size,
00104        const boost::function<void (const boost::shared_ptr<M const>&)>& _callback,
00105        const boost::function<boost::shared_ptr<M>(void)>& factory_fn = DefaultMessageCreator<M>())
00106   {
00107     typedef typename ParameterAdapter<M>::Message MessageType;
00108     topic = _topic;
00109     queue_size = _queue_size;
00110     md5sum = message_traits::md5sum<MessageType>();
00111     datatype = message_traits::datatype<MessageType>();
00112     helper = boost::make_shared<SubscriptionCallbackHelperT<const boost::shared_ptr<MessageType const>&> >(_callback, factory_fn);
00113   }
00114 
00115   std::string topic;                                                
00116   uint32_t queue_size;                                              
00117 
00118   std::string md5sum;                                               
00119   std::string datatype;                                             
00120 
00121   SubscriptionCallbackHelperPtr helper;                              
00122 
00123   CallbackQueueInterface* callback_queue;                           
00124 
00127   bool allow_concurrent_callbacks;
00128 
00139   VoidConstPtr tracked_object;
00140 
00141   TransportHints transport_hints;                                   
00142 
00153   template<class M>
00154   static SubscribeOptions create(const std::string& topic, uint32_t queue_size,
00155                                  const boost::function<void (const boost::shared_ptr<M const>&)>& callback,
00156                                  const VoidConstPtr& tracked_object, CallbackQueueInterface* queue)
00157   {
00158     SubscribeOptions ops;
00159     ops.init<M>(topic, queue_size, callback);
00160     ops.tracked_object = tracked_object;
00161     ops.callback_queue = queue;
00162     return ops;
00163   }
00164 };
00165 
00166 }
00167 
00168 #endif
00169 
00170 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:04