subscribe_options.h

Go to the documentation of this file.

/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#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