subscribe_options.h

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/*
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#ifndef ROSCPP_SUBSCRIBE_OPTIONS_H
#define ROSCPP_SUBSCRIBE_OPTIONS_H
 
#include "ros/forwards.h"
#include "common.h"
#include "ros/transport_hints.h"
#include "ros/message_traits.h"
#include "subscription_callback_helper.h"
 
namespace ros
{
 
struct ROSCPP_DECL SubscribeOptions
{
  SubscribeOptions()
  : queue_size(1)
  , callback_queue(0)
  , allow_concurrent_callbacks(false)
  {
  }
 
  SubscribeOptions(const std::string& _topic, uint32_t _queue_size, const std::string& _md5sum, const std::string& _datatype)
  : topic(_topic)
  , queue_size(_queue_size)
  , md5sum(_md5sum)
  , datatype(_datatype)
  , callback_queue(0)
  , allow_concurrent_callbacks(false)
  {}
 
  template<class P>
  void initByFullCallbackType(const std::string& _topic, uint32_t _queue_size,
       const boost::function<void (P)>& _callback,
       const boost::function<boost::shared_ptr<typename ParameterAdapter<P>::Message>(void)>& factory_fn = DefaultMessageCreator<typename ParameterAdapter<P>::Message>())
  {
    typedef typename ParameterAdapter<P>::Message MessageType;
    topic = _topic;
    queue_size = _queue_size;
    md5sum = message_traits::md5sum<MessageType>();
    datatype = message_traits::datatype<MessageType>();
    helper = boost::make_shared<SubscriptionCallbackHelperT<P> >(_callback, factory_fn);
  }
 
  template<class M>
  void init(const std::string& _topic, uint32_t _queue_size,
       const boost::function<void (const boost::shared_ptr<M const>&)>& _callback,
       const boost::function<boost::shared_ptr<M>(void)>& factory_fn = DefaultMessageCreator<M>())
  {
    typedef typename ParameterAdapter<M>::Message MessageType;
    topic = _topic;
    queue_size = _queue_size;
    md5sum = message_traits::md5sum<MessageType>();
    datatype = message_traits::datatype<MessageType>();
    helper = boost::make_shared<SubscriptionCallbackHelperT<const boost::shared_ptr<MessageType const>&> >(_callback, factory_fn);
  }
 
  std::string topic;                                                
  uint32_t queue_size;                                              
 
  std::string md5sum;                                               
  std::string datatype;                                             
 
  SubscriptionCallbackHelperPtr helper;                              
 
  CallbackQueueInterface* callback_queue;                           
 
  bool allow_concurrent_callbacks;
 
  VoidConstPtr tracked_object;
 
  TransportHints transport_hints;                                   
 
  template<class M>
  static SubscribeOptions create(const std::string& topic, uint32_t queue_size,
                                 const boost::function<void (const boost::shared_ptr<M const>&)>& callback,
                                 const VoidConstPtr& tracked_object, CallbackQueueInterface* queue)
  {
    SubscribeOptions ops;
    ops.init<M>(topic, queue_size, callback);
    ops.tracked_object = tracked_object;
    ops.callback_queue = queue;
    return ops;
  }
};
 
}
 
#endif