118 lines
3.6 KiB
C++
118 lines
3.6 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _SUBSCRIBEOPTIONS_HH_
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#define _SUBSCRIBEOPTIONS_HH_
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#include <boost/function.hpp>
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#include <boost/shared_ptr.hpp>
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#include <string>
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#include "gazebo/transport/CallbackHelper.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace transport
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{
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/// \addtogroup gazebo_transport
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/// \{
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/// \class SubscribeOptions SubscribeOptions.hh transport/transport.hh
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/// \brief Options for a subscription
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class GZ_TRANSPORT_VISIBLE SubscribeOptions
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{
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/// \brief Constructor
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public: SubscribeOptions()
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: latching(false)
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{}
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/// \brief Initialize the options
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/// \param[in] _topic Topic we're subscribing to
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/// \param[in,out] _node The associated node
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/// \param[in] _latching If true, latch the latest message; if false,
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/// don't latch
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public: template<class M>
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void Init(const std::string &_topic, NodePtr _node,
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bool _latching)
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{
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google::protobuf::Message *msg = NULL;
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M msgtype;
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msg = dynamic_cast<google::protobuf::Message *>(&msgtype);
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if (!msg)
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gzthrow("Subscribe requires a google protobuf type");
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this->node = _node;
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this->topic = _topic;
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this->msgType = msg->GetTypeName();
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this->latching = _latching;
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}
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/// \brief Initialize the options. This version of init is only used
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/// when creating subscribers of raw data.
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/// \param[in] _topic Topic we're subscribing to
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/// \param[in,out] _node The associated node
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/// \param[in] _latching If true, latch the latest message; if false,
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/// don't latch
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public: void Init(const std::string &_topic, NodePtr _node,
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bool _latching)
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{
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this->node = _node;
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this->topic = _topic;
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this->msgType = "raw";
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this->latching = _latching;
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}
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/// \brief Get the node we're subscribed to
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/// \return The associated node
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public: NodePtr GetNode() const
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{
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return this->node;
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}
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/// \brief Get the topic we're subscribed to
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/// \return The topic we're subscribed to
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public: std::string GetTopic() const
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{
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return this->topic;
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}
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/// \brief Get the type of the topic we're subscribed to
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/// \return The type of the topic we're subscribed to
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public: std::string GetMsgType() const
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{
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return this->msgType;
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}
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/// \brief Are we latching?
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/// \return true if we're latching the latest message, false otherwise
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public: bool GetLatching() const
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{
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return this->latching;
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}
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private: std::string topic;
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private: std::string msgType;
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private: NodePtr node;
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private: bool latching;
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};
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/// \}
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}
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}
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#endif
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