/usr/include/ros/single_subscriber_publisher.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 | /*
* 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_SINGLE_SUBSCRIBER_PUBLISHER_H
#define ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H
#include "ros/forwards.h"
#include "ros/serialization.h"
#include "common.h"
#include <boost/utility.hpp>
namespace ros
{
/**
* \brief Allows publication of a message to a single subscriber. Only available inside subscriber connection callbacks
*/
class ROSCPP_DECL SingleSubscriberPublisher : public boost::noncopyable
{
public:
SingleSubscriberPublisher(const SubscriberLinkPtr& link);
~SingleSubscriberPublisher();
/**
* \brief Publish a message on the topic associated with this Publisher.
*
* This version of publish will allow fast intra-process message-passing in the future,
* so you may not mutate the message after it has been passed in here (since it will be
* passed directly into a callback function)
*
*/
template<class M>
void publish(const boost::shared_ptr<M const>& message) const
{
publish(*message);
}
/**
* \brief Publish a message on the topic associated with this Publisher.
*
* This version of publish will allow fast intra-process message-passing in the future,
* so you may not mutate the message after it has been passed in here (since it will be
* passed directly into a callback function)
*
*/
template<class M>
void publish(const boost::shared_ptr<M>& message) const
{
publish(*message);
}
/**
* \brief Publish a message on the topic associated with this Publisher.
*/
template<class M>
void publish(const M& message) const
{
using namespace serialization;
SerializedMessage m = serializeMessage(message);
publish(m);
}
/**
* \brief Returns the topic this publisher publishes on
*/
std::string getTopic() const;
/**
* \brief Returns the name of the subscriber node
*/
std::string getSubscriberName() const;
private:
void publish(const SerializedMessage& m) const;
SubscriberLinkPtr link_;
};
}
#endif // ROSCPP_PUBLISHER_HANDLE_H
|