/usr/include/ros/topic.h is in libroscpp-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* 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 name of 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_TOPIC_H
#define ROSCPP_TOPIC_H
#include "common.h"
#include "node_handle.h"
#include <boost/shared_ptr.hpp>
namespace ros
{
namespace topic
{
/**
* \brief Internal method, do not use
*/
ROSCPP_DECL void waitForMessageImpl(SubscribeOptions& ops, const boost::function<bool(void)>& ready_pred, NodeHandle& nh, ros::Duration timeout);
template<class M>
class SubscribeHelper
{
public:
typedef boost::shared_ptr<M const> MConstPtr;
void callback(const MConstPtr& message)
{
message_ = message;
}
bool hasMessage()
{
return static_cast<bool>(message_);
}
MConstPtr getMessage()
{
return message_;
}
private:
MConstPtr message_;
};
/**
* \brief Wait for a single message to arrive on a topic, with timeout
*
* \param M <template> The message type
* \param topic The topic to subscribe on
* \param nh The NodeHandle to use to do the subscription
* \param timeout The amount of time to wait before returning if no message is received
* \return The message. Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
*/
template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic, NodeHandle& nh, ros::Duration timeout)
{
SubscribeHelper<M> helper;
SubscribeOptions ops;
ops.template init<M>(topic, 1, boost::bind(&SubscribeHelper<M>::callback, &helper, _1));
waitForMessageImpl(ops, boost::bind(&SubscribeHelper<M>::hasMessage, &helper), nh, timeout);
return helper.getMessage();
}
/**
* \brief Wait for a single message to arrive on a topic
*
* \param M <template> The message type
* \param topic The topic to subscribe on
* \return The message. Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
*/
template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic)
{
ros::NodeHandle nh;
return waitForMessage<M>(topic, nh, ros::Duration());
}
/**
* \brief Wait for a single message to arrive on a topic, with timeout
*
* \param M <template> The message type
* \param topic The topic to subscribe on
* \param timeout The amount of time to wait before returning if no message is received
* \return The message. Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
*/
template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::Duration timeout)
{
ros::NodeHandle nh;
return waitForMessage<M>(topic, nh, timeout);
}
/**
* \brief Wait for a single message to arrive on a topic
*
* \param M <template> The message type
* \param topic The topic to subscribe on
* \param nh The NodeHandle to use to do the subscription
* \return The message. Empty boost::shared_ptr if waitForMessage is interrupted by the node shutting down
*/
template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::NodeHandle& nh)
{
return waitForMessage<M>(topic, nh, ros::Duration());
}
} // namespace topic
} // namespace ros
#endif // ROSCPP_TOPIC_H
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