/usr/include/ros/message_event.h is in libroscpp-core-dev 0.6.7-1build1.
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* Copyright (C) 2010, 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_MESSAGE_EVENT_H
#define ROSCPP_MESSAGE_EVENT_H
#include "ros/time.h"
#include <ros/datatypes.h>
#include <ros/message_traits.h>
#include <boost/type_traits/is_void.hpp>
#include <boost/type_traits/is_base_of.hpp>
#include <boost/type_traits/is_const.hpp>
#include <boost/type_traits/add_const.hpp>
#include <boost/type_traits/remove_const.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/function.hpp>
#include <boost/make_shared.hpp>
namespace ros
{
template<typename M>
struct DefaultMessageCreator
{
boost::shared_ptr<M> operator()()
{
return boost::make_shared<M>();
}
};
template<typename M>
ROS_DEPRECATED inline boost::shared_ptr<M> defaultMessageCreateFunction()
{
return DefaultMessageCreator<M>()();
}
/**
* \brief Event type for subscriptions, const ros::MessageEvent<M const>& can be used in your callback instead of const boost::shared_ptr<M const>&
*
* Useful if you need to retrieve meta-data about the message, such as the full connection header, or the publisher's node name
*/
template<typename M>
class MessageEvent
{
public:
typedef typename boost::add_const<M>::type ConstMessage;
typedef typename boost::remove_const<M>::type Message;
typedef boost::shared_ptr<Message> MessagePtr;
typedef boost::shared_ptr<ConstMessage> ConstMessagePtr;
typedef boost::function<MessagePtr()> CreateFunction;
MessageEvent()
: nonconst_need_copy_(true)
{}
MessageEvent(const MessageEvent<Message>& rhs)
{
*this = rhs;
}
MessageEvent(const MessageEvent<ConstMessage>& rhs)
{
*this = rhs;
}
MessageEvent(const MessageEvent<Message>& rhs, bool nonconst_need_copy)
{
*this = rhs;
nonconst_need_copy_ = nonconst_need_copy;
}
MessageEvent(const MessageEvent<ConstMessage>& rhs, bool nonconst_need_copy)
{
*this = rhs;
nonconst_need_copy_ = nonconst_need_copy;
}
MessageEvent(const MessageEvent<void const>& rhs, const CreateFunction& create)
{
init(boost::const_pointer_cast<Message>(boost::static_pointer_cast<ConstMessage>(rhs.getMessage())), rhs.getConnectionHeaderPtr(), rhs.getReceiptTime(), rhs.nonConstWillCopy(), create);
}
/**
* \todo Make this explicit in ROS 2.0. Keep as auto-converting for now to maintain backwards compatibility in some places (message_filters)
*/
MessageEvent(const ConstMessagePtr& message)
{
init(message, boost::shared_ptr<M_string>(), ros::Time::now(), true, ros::DefaultMessageCreator<Message>());
}
MessageEvent(const ConstMessagePtr& message, const boost::shared_ptr<M_string>& connection_header, ros::Time receipt_time)
{
init(message, connection_header, receipt_time, true, ros::DefaultMessageCreator<Message>());
}
MessageEvent(const ConstMessagePtr& message, ros::Time receipt_time)
{
init(message, boost::shared_ptr<M_string>(), receipt_time, true, ros::DefaultMessageCreator<Message>());
}
MessageEvent(const ConstMessagePtr& message, const boost::shared_ptr<M_string>& connection_header, ros::Time receipt_time, bool nonconst_need_copy, const CreateFunction& create)
{
init(message, connection_header, receipt_time, nonconst_need_copy, create);
}
void init(const ConstMessagePtr& message, const boost::shared_ptr<M_string>& connection_header, ros::Time receipt_time, bool nonconst_need_copy, const CreateFunction& create)
{
message_ = message;
connection_header_ = connection_header;
receipt_time_ = receipt_time;
nonconst_need_copy_ = nonconst_need_copy;
create_ = create;
}
void operator=(const MessageEvent<Message>& rhs)
{
init(boost::static_pointer_cast<Message>(rhs.getMessage()), rhs.getConnectionHeaderPtr(), rhs.getReceiptTime(), rhs.nonConstWillCopy(), rhs.getMessageFactory());
message_copy_.reset();
}
void operator=(const MessageEvent<ConstMessage>& rhs)
{
init(boost::const_pointer_cast<Message>(boost::static_pointer_cast<ConstMessage>(rhs.getMessage())), rhs.getConnectionHeaderPtr(), rhs.getReceiptTime(), rhs.nonConstWillCopy(), rhs.getMessageFactory());
message_copy_.reset();
}
/**
* \brief Retrieve the message. If M is const, this returns a reference to it. If M is non const
* and this event requires it, returns a copy. Note that it caches this copy for later use, so it will
* only every make the copy once
*/
boost::shared_ptr<M> getMessage() const
{
return copyMessageIfNecessary<M>();
}
/**
* \brief Retrieve a const version of the message
*/
const boost::shared_ptr<ConstMessage>& getConstMessage() const { return message_; }
/**
* \brief Retrieve the connection header
*/
M_string& getConnectionHeader() const { return *connection_header_; }
const boost::shared_ptr<M_string>& getConnectionHeaderPtr() const { return connection_header_; }
/**
* \brief Returns the name of the node which published this message
*/
const std::string& getPublisherName() const { return connection_header_ ? (*connection_header_)["callerid"] : s_unknown_publisher_string_; }
/**
* \brief Returns the time at which this message was received
*/
ros::Time getReceiptTime() const { return receipt_time_; }
bool nonConstWillCopy() const { return nonconst_need_copy_; }
bool getMessageWillCopy() const { return !boost::is_const<M>::value && nonconst_need_copy_; }
bool operator<(const MessageEvent<M>& rhs)
{
if (message_ != rhs.message_)
{
return message_ < rhs.message_;
}
if (receipt_time_ != rhs.receipt_time_)
{
return receipt_time_ < rhs.receipt_time_;
}
return nonconst_need_copy_ < rhs.nonconst_need_copy_;
}
bool operator==(const MessageEvent<M>& rhs)
{
return message_ == rhs.message_ && receipt_time_ == rhs.receipt_time_ && nonconst_need_copy_ == rhs.nonconst_need_copy_;
}
bool operator!=(const MessageEvent<M>& rhs)
{
return !(*this == rhs);
}
const CreateFunction& getMessageFactory() const { return create_; }
private:
template<typename M2>
typename boost::disable_if<boost::is_void<M2>, boost::shared_ptr<M> >::type copyMessageIfNecessary() const
{
if (boost::is_const<M>::value || !nonconst_need_copy_)
{
return boost::const_pointer_cast<Message>(message_);
}
if (message_copy_)
{
return message_copy_;
}
assert(create_);
message_copy_ = create_();
*message_copy_ = *message_;
return message_copy_;
}
template<typename M2>
typename boost::enable_if<boost::is_void<M2>, boost::shared_ptr<M> >::type copyMessageIfNecessary() const
{
return boost::const_pointer_cast<Message>(message_);
}
ConstMessagePtr message_;
// Kind of ugly to make this mutable, but it means we can pass a const MessageEvent to a callback and not worry about other things being modified
mutable MessagePtr message_copy_;
boost::shared_ptr<M_string> connection_header_;
ros::Time receipt_time_;
bool nonconst_need_copy_;
CreateFunction create_;
static const std::string s_unknown_publisher_string_;
};
template<typename M> const std::string MessageEvent<M>::s_unknown_publisher_string_("unknown_publisher");
}
#endif // ROSCPP_MESSAGE_EVENT_H
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