/usr/include/ros/subscription_callback_helper.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_SUBSCRIPTION_CALLBACK_HELPER_H
#define ROSCPP_SUBSCRIPTION_CALLBACK_HELPER_H
#include <typeinfo>
#include "common.h"
#include "ros/forwards.h"
#include "ros/parameter_adapter.h"
#include "ros/message_traits.h"
#include "ros/builtin_message_traits.h"
#include "ros/serialization.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>
#include <boost/type_traits/is_base_of.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/make_shared.hpp>
namespace ros
{
struct SubscriptionCallbackHelperDeserializeParams
{
uint8_t* buffer;
uint32_t length;
boost::shared_ptr<M_string> connection_header;
};
struct ROSCPP_DECL SubscriptionCallbackHelperCallParams
{
MessageEvent<void const> event;
};
/**
* \brief Abstract base class used by subscriptions to deal with concrete message types through a common
* interface. This is one part of the roscpp API that is \b not fully stable, so overloading this class
* is not recommended.
*/
class ROSCPP_DECL SubscriptionCallbackHelper
{
public:
virtual ~SubscriptionCallbackHelper() {}
virtual VoidConstPtr deserialize(const SubscriptionCallbackHelperDeserializeParams&) = 0;
virtual void call(SubscriptionCallbackHelperCallParams& params) = 0;
virtual const std::type_info& getTypeInfo() = 0;
virtual bool isConst() = 0;
virtual bool hasHeader() = 0;
};
typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
/**
* \brief Concrete generic implementation of
* SubscriptionCallbackHelper for any normal message type. Use
* directly with care, this is mostly for internal use.
*/
template<typename P, typename Enabled = void>
class SubscriptionCallbackHelperT : public SubscriptionCallbackHelper
{
public:
typedef ParameterAdapter<P> Adapter;
typedef typename ParameterAdapter<P>::Message NonConstType;
typedef typename ParameterAdapter<P>::Event Event;
typedef typename boost::add_const<NonConstType>::type ConstType;
typedef boost::shared_ptr<NonConstType> NonConstTypePtr;
typedef boost::shared_ptr<ConstType> ConstTypePtr;
static const bool is_const = ParameterAdapter<P>::is_const;
typedef boost::function<void(typename Adapter::Parameter)> Callback;
typedef boost::function<NonConstTypePtr()> CreateFunction;
SubscriptionCallbackHelperT(const Callback& callback,
const CreateFunction& create = DefaultMessageCreator<NonConstType>())
: callback_(callback)
, create_(create)
{ }
void setCreateFunction(const CreateFunction& create)
{
create_ = create;
}
virtual bool hasHeader()
{
return message_traits::hasHeader<typename ParameterAdapter<P>::Message>();
}
virtual VoidConstPtr deserialize(const SubscriptionCallbackHelperDeserializeParams& params)
{
namespace ser = serialization;
NonConstTypePtr msg = create_();
if (!msg)
{
ROS_DEBUG("Allocation failed for message of type [%s]", getTypeInfo().name());
return VoidConstPtr();
}
ser::PreDeserializeParams<NonConstType> predes_params;
predes_params.message = msg;
predes_params.connection_header = params.connection_header;
ser::PreDeserialize<NonConstType>::notify(predes_params);
ser::IStream stream(params.buffer, params.length);
ser::deserialize(stream, *msg);
return VoidConstPtr(msg);
}
virtual void call(SubscriptionCallbackHelperCallParams& params)
{
Event event(params.event, create_);
callback_(ParameterAdapter<P>::getParameter(event));
}
virtual const std::type_info& getTypeInfo()
{
return typeid(NonConstType);
}
virtual bool isConst()
{
return ParameterAdapter<P>::is_const;
}
private:
Callback callback_;
CreateFunction create_;
};
}
#endif // ROSCPP_SUBSCRIPTION_CALLBACK_HELPER_H
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