/usr/include/ros/parameter_adapter.h is in libroscpp-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
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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_PARAMETER_ADAPTER_H
#define ROSCPP_PARAMETER_ADAPTER_H
#include "ros/forwards.h"
#include "ros/message_event.h"
#include <ros/static_assert.h>
#include <boost/type_traits/add_const.hpp>
#include <boost/type_traits/remove_const.hpp>
#include <boost/type_traits/remove_reference.hpp>
namespace ros
{
/**
* \brief Generally not for outside use. Adapts a function parameter type into the message type, event type and parameter. Allows you to
* retrieve a parameter type from an event type.
*
* ParameterAdapter is generally only useful for outside use when implementing things that require message callbacks
* (such as the message_filters package)and you would like to support all the roscpp message parameter types
*
* The ParameterAdapter is templated on the callback parameter type (\b not the bare message type), and provides 3 things:
* - Message typedef, which provides the bare message type, no const or reference qualifiers
* - Event typedef, which provides the ros::MessageEvent type
* - Parameter typedef, which provides the actual parameter type (may be slightly different from M)
* - static getParameter(event) function, which returns a parameter type given the event
* - static bool is_const informs you whether or not the parameter type is a const message
*
* ParameterAdapter is specialized to allow callbacks of any of the forms:
\verbatim
void callback(const boost::shared_ptr<M const>&);
void callback(const boost::shared_ptr<M>&);
void callback(boost::shared_ptr<M const>);
void callback(boost::shared_ptr<M>);
void callback(const M&);
void callback(M);
void callback(const MessageEvent<M const>&);
void callback(const MessageEvent<M>&);
\endverbatim
*/
template<typename M>
struct ParameterAdapter
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef M Parameter;
static const bool is_const = true;
static Parameter getParameter(const Event& event)
{
return *event.getMessage();
}
};
template<typename M>
struct ParameterAdapter<const boost::shared_ptr<M const>& >
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef const boost::shared_ptr<Message const> Parameter;
static const bool is_const = true;
static Parameter getParameter(const Event& event)
{
return event.getMessage();
}
};
template<typename M>
struct ParameterAdapter<const boost::shared_ptr<M>& >
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef boost::shared_ptr<Message> Parameter;
static const bool is_const = false;
static Parameter getParameter(const Event& event)
{
return ros::MessageEvent<Message>(event).getMessage();
}
};
template<typename M>
struct ParameterAdapter<const M&>
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef const M& Parameter;
static const bool is_const = true;
static Parameter getParameter(const Event& event)
{
return *event.getMessage();
}
};
template<typename M>
struct ParameterAdapter<boost::shared_ptr<M const> >
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef boost::shared_ptr<Message const> Parameter;
static const bool is_const = true;
static Parameter getParameter(const Event& event)
{
return event.getMessage();
}
};
template<typename M>
struct ParameterAdapter<boost::shared_ptr<M> >
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef boost::shared_ptr<Message> Parameter;
static const bool is_const = false;
static Parameter getParameter(const Event& event)
{
return ros::MessageEvent<Message>(event).getMessage();
}
};
template<typename M>
struct ParameterAdapter<const ros::MessageEvent<M const>& >
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef const ros::MessageEvent<Message const>& Parameter;
static const bool is_const = true;
static Parameter getParameter(const Event& event)
{
return event;
}
};
template<typename M>
struct ParameterAdapter<const ros::MessageEvent<M>& >
{
typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
typedef ros::MessageEvent<Message const> Event;
typedef ros::MessageEvent<Message> Parameter;
static const bool is_const = false;
static Parameter getParameter(const Event& event)
{
return ros::MessageEvent<Message>(event);
}
};
}
#endif // ROSCPP_PARAMETER_ADAPTER_H
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