topic.cpp
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2009, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  */
34 
35 #include "ros/topic.h"
36 #include "ros/callback_queue.h"
37 
38 namespace ros
39 {
40 namespace topic
41 {
42 
44  const boost::function<bool(void)>& ready_pred,
45  NodeHandle& nh, ros::Duration timeout)
46 {
47  ros::CallbackQueue queue;
48  ops.callback_queue = &queue;
49 
50  ros::Subscriber sub = nh.subscribe(ops);
51 
52  ros::Time end = ros::Time::now() + timeout;
53  while (!ready_pred() && nh.ok())
54  {
55  queue.callAvailable(ros::WallDuration(0.1));
56 
57  if (!timeout.isZero() && ros::Time::now() >= end)
58  {
59  return;
60  }
61  }
62 }
63 
64 } // namespace topic
65 } // namespace ros
ros
ros::SubscribeOptions::callback_queue
CallbackQueueInterface * callback_queue
Queue to add callbacks to. If NULL, the global callback queue will be used.
Definition: subscribe_options.h:123
ros::NodeHandle::subscribe
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
Definition: node_handle.h:402
ros::topic::waitForMessageImpl
ROSCPP_DECL void waitForMessageImpl(SubscribeOptions &ops, const boost::function< bool(void)> &ready_pred, NodeHandle &nh, ros::Duration timeout)
Internal method, do not use.
Definition: topic.cpp:43
ros::NodeHandle
roscpp's interface for creating subscribers, publishers, etc.
Definition: node_handle.h:87
ros::NodeHandle::ok
bool ok() const
Check whether it's time to exit.
Definition: node_handle.cpp:803
ros::SubscribeOptions
Encapsulates all options available for creating a Subscriber.
Definition: subscribe_options.h:43
ros::Time
ros::CallbackQueue
This is the default implementation of the ros::CallbackQueueInterface.
Definition: callback_queue.h:57
callback_queue.h
ros::WallDuration
ros::Subscriber
Manages an subscription callback on a specific topic.
Definition: subscriber.h:46
ros::Duration
ros::CallbackQueue::callAvailable
void callAvailable()
Invoke all callbacks currently in the queue. If a callback was not ready to be called,...
Definition: callback_queue.h:96
DurationBase< Duration >::isZero
bool isZero() const
topic.h
ros::Time::now
static Time now()


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim, Dirk Thomas , Jacob Perron
autogenerated on Thu Nov 23 2023 04:01:44