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generic_subscription.hpp
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168 lines (149 loc) · 6.27 KB
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// Copyright 2018, Bosch Software Innovations GmbH.
// Copyright 2021, Apex.AI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP__GENERIC_SUBSCRIPTION_HPP_
#define RCLCPP__GENERIC_SUBSCRIPTION_HPP_
#include <functional>
#include <memory>
#include <string>
#include "rcpputils/shared_library.hpp"
#include "rclcpp/callback_group.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/serialized_message.hpp"
#include "rclcpp/subscription_base.hpp"
#include "rclcpp/typesupport_helpers.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
/// %Subscription for serialized messages whose type is not known at compile time.
/**
* Since the type is not known at compile time, this is not a template, and the dynamic library
* containing type support information has to be identified and loaded based on the type name.
*
* It does not support intra-process handling.
*/
class GenericSubscription : public rclcpp::SubscriptionBase
{
public:
// cppcheck-suppress unknownMacro
RCLCPP_SMART_PTR_DEFINITIONS(GenericSubscription)
/// Constructor.
/**
* In order to properly subscribe to a topic, this subscription needs to be added to
* the node_topic_interface of the node passed into this constructor.
*
* \sa rclcpp::Node::create_generic_subscription() or rclcpp::create_generic_subscription() for
* creating an instance of this class and adding it to the node_topic_interface.
*
* \param node_base Pointer to parent node's NodeBaseInterface
* \param ts_lib Type support library, needs to correspond to topic_type
* \param topic_name Topic name
* \param topic_type Topic type
* \param qos %QoS settings
* \param callback Callback for new messages of serialized form
* \param options %Subscription options.
* Not all subscription options are currently respected, the only relevant options for this
* subscription are `event_callbacks`, `use_default_callbacks`, `ignore_local_publications`, and
* `%callback_group`.
*/
template<typename AllocatorT = std::allocator<void>>
GenericSubscription(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const std::shared_ptr<rcpputils::SharedLibrary> ts_lib,
const std::string & topic_name,
const std::string & topic_type,
const rclcpp::QoS & qos,
// TODO(nnmm): Add variant for callback with message info. See issue #1604.
std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
: SubscriptionBase(
node_base,
*rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
topic_name,
options.template to_rcl_subscription_options<rclcpp::SerializedMessage>(qos),
true),
callback_(callback),
ts_lib_(ts_lib)
{
// This is unfortunately duplicated with the code in subscription.hpp.
// TODO(nnmm): Deduplicate by moving this into SubscriptionBase.
if (options.event_callbacks.deadline_callback) {
this->add_event_handler(
options.event_callbacks.deadline_callback,
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
}
if (options.event_callbacks.liveliness_callback) {
this->add_event_handler(
options.event_callbacks.liveliness_callback,
RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
}
if (options.event_callbacks.incompatible_qos_callback) {
this->add_event_handler(
options.event_callbacks.incompatible_qos_callback,
RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
} else if (options.use_default_callbacks) {
// Register default callback when not specified
try {
this->add_event_handler(
[this](QOSRequestedIncompatibleQoSInfo & info) {
this->default_incompatible_qos_callback(info);
},
RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
} catch (UnsupportedEventTypeException & /*exc*/) {
// pass
}
}
if (options.event_callbacks.message_lost_callback) {
this->add_event_handler(
options.event_callbacks.message_lost_callback,
RCL_SUBSCRIPTION_MESSAGE_LOST);
}
}
RCLCPP_PUBLIC
virtual ~GenericSubscription() = default;
// Same as create_serialized_message() as the subscription is to serialized_messages only
RCLCPP_PUBLIC
std::shared_ptr<void> create_message() override;
RCLCPP_PUBLIC
std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override;
/// Cast the message to a rclcpp::SerializedMessage and call the callback.
RCLCPP_PUBLIC
void handle_message(
std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override;
/// Handle dispatching rclcpp::SerializedMessage to user callback.
RCLCPP_PUBLIC
void
handle_serialized_message(
const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
const rclcpp::MessageInfo & message_info) override;
/// This function is currently not implemented.
RCLCPP_PUBLIC
void handle_loaned_message(
void * loaned_message, const rclcpp::MessageInfo & message_info) override;
// Same as return_serialized_message() as the subscription is to serialized_messages only
RCLCPP_PUBLIC
void return_message(std::shared_ptr<void> & message) override;
RCLCPP_PUBLIC
void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
private:
RCLCPP_DISABLE_COPY(GenericSubscription)
std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback_;
// The type support library should stay loaded, so it is stored in the GenericSubscription
std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;
};
} // namespace rclcpp
#endif // RCLCPP__GENERIC_SUBSCRIPTION_HPP_