/usr/include/ros/service_client_options.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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* 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_SERVICE_CLIENT_OPTIONS_H
#define ROSCPP_SERVICE_CLIENT_OPTIONS_H
#include "ros/forwards.h"
#include "common.h"
#include "ros/service_traits.h"
namespace ros
{
/**
* \brief Encapsulates all options available for creating a ServiceClient
*/
struct ROSCPP_DECL ServiceClientOptions
{
ServiceClientOptions()
: persistent(false)
{
}
/*
* \brief Constructor
* \param _service Name of the service to connect to
* \param _md5sum md5sum of the service
* \param _persistent Whether or not to keep the connection open to the service for future calls
* \param _header Any extra values to be passed along in the connection header
*/
ServiceClientOptions(const std::string& _service, const std::string& _md5sum, bool _persistent, const M_string& _header)
: service(_service)
, md5sum(_md5sum)
, persistent(_persistent)
, header(_header)
{
}
/*
* \brief Templated helper method, preventing you from needing to manually get the service md5sum
* \param MReq [template] Request message type
* \param MRes [template] Response message type
* \param _service Name of the service to connect to
* \param _persistent Whether or not to keep the connection open to the service for future calls
* \param _header Any extra values to be passed along in the connection header
*/
template <class MReq, class MRes>
void init(const std::string& _service, bool _persistent, const M_string& _header)
{
namespace st = service_traits;
service = _service;
md5sum = st::md5sum<MReq>();
persistent = _persistent;
header = _header;
}
/*
* \brief Templated helper method, preventing you from needing to manually get the service md5sum
* \param Service [template] Service type
* \param _service Name of the service to connect to
* \param _persistent Whether or not to keep the connection open to the service for future calls
* \param _header Any extra values to be passed along in the connection header
*/
template <class Service>
void init(const std::string& _service, bool _persistent, const M_string& _header)
{
namespace st = service_traits;
service = _service;
md5sum = st::md5sum<Service>();
persistent = _persistent;
header = _header;
}
std::string service; ///< Service to connect to
std::string md5sum; ///< Service md5sum
bool persistent; ///< Whether or not the connection should persist
M_string header; ///< Extra key/value pairs to add to the connection header
};
}
#endif
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