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| // Copyright 2022 Open Source Robotics Foundation, 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. | ||
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| #ifndef RCLCPP__RUNTIME_TYPE_SUBSCRIPTION_HPP_ | ||
| #define RCLCPP__RUNTIME_TYPE_SUBSCRIPTION_HPP_ | ||
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| #include <functional> | ||
| #include <memory> | ||
| #include <string> | ||
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| #include "rcpputils/shared_library.hpp" | ||
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| #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" | ||
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| namespace rclcpp | ||
| { | ||
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| /// %Subscription for messages whose type descriptions are obtained at runtime. | ||
| /** | ||
| * 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. | ||
| * | ||
| * NOTE(methylDragon): No considerations for intra-process handling are made. | ||
| */ | ||
| class RuntimeTypeSubscription : public rclcpp::SubscriptionBase | ||
| { | ||
| public: | ||
| // cppcheck-suppress unknownMacro | ||
| RCLCPP_SMART_PTR_DEFINITIONS(RuntimeTypeSubscription) | ||
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| template<typename AllocatorT = std::allocator<void>> | ||
| RuntimeTypeSubscription( | ||
| rclcpp::node_interfaces::NodeBaseInterface * node_base, | ||
| rosidl_message_type_support_t & type_support_handle, | ||
| const std::string & topic_name, | ||
| const rclcpp::QoS & qos, | ||
| // TODO(methylDragons): Eventually roll out an rclcpp::DynamicData that encompasses the ser | ||
| // support and DynamicData, and pass that to the callback | ||
| std::function<void( | ||
| std::shared_ptr<serialization_support_t>, std::shared_ptr<ser_dynamic_data_t> | ||
| )> callback, | ||
| const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options, | ||
| bool use_take_runtime_type_message = false) | ||
| : SubscriptionBase( | ||
| node_base, | ||
| type_support_handle, | ||
| topic_name, | ||
| options.to_rcl_subscription_options(qos), | ||
| options.event_callbacks, | ||
| options.use_default_callbacks, | ||
| false, | ||
| true, | ||
| use_take_runtime_type_message), | ||
| ts_(type_support_handle), | ||
| callback_(callback) | ||
| { | ||
| if(type_support_handle.typesupport_identifier | ||
| != rmw_typesupport_runtime_type_introspection_c__identifier) | ||
| { | ||
| throw std::runtime_error( | ||
| "RuntimeTypeSubscription must use runtime type introspection type support!"); | ||
| } | ||
| } | ||
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| // TODO(methylDragon): | ||
| /// Deferred type description constructor, only usable if the middleware implementation supports | ||
| /// type discovery | ||
| // template<typename AllocatorT = std::allocator<void>> | ||
| // RuntimeTypeSubscription( | ||
| // rclcpp::node_interfaces::NodeBaseInterface * node_base, | ||
| // const std::string & topic_name, | ||
| // const rclcpp::QoS & qos, | ||
| // // TODO(methylDragons): Eventually roll out an rclcpp::DynamicData that encompasses the ser | ||
| // // support and DynamicData, and pass that to the callback | ||
| // std::function<void( | ||
| // std::shared_ptr<serialization_support_t>, std::shared_ptr<ser_dynamic_data_t> | ||
| // )> callback, | ||
| // const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options, | ||
| // const char * serialization_lib_name = nullptr) | ||
| // : SubscriptionBase( | ||
| // node_base, | ||
| // // NOTE(methylDragon): Since the typesupport is deferred, it needs to be modified post-hoc | ||
| // // which means it technically isn't const correct... | ||
| // *rmw_get_runtime_type_message_typesupport_handle(serialization_lib_name), | ||
| // topic_name, | ||
| // options.to_rcl_subscription_options(qos), | ||
| // options.event_callbacks, | ||
| // options.use_default_callbacks, | ||
| // false, | ||
| // true), | ||
| // callback_(callback) | ||
| // {} | ||
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| RCLCPP_PUBLIC | ||
| virtual ~RuntimeTypeSubscription() = default; | ||
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| // Same as create_serialized_message() as the subscription is to serialized_messages only | ||
| RCLCPP_PUBLIC | ||
| std::shared_ptr<void> create_message() override; | ||
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| RCLCPP_PUBLIC | ||
| std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override; | ||
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| /// 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; | ||
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| /// 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; | ||
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| /// This function is currently not implemented. | ||
| RCLCPP_PUBLIC | ||
| void handle_loaned_message( | ||
| void * loaned_message, const rclcpp::MessageInfo & message_info) override; | ||
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| // Same as return_serialized_message() as the subscription is to serialized_messages only | ||
| RCLCPP_PUBLIC | ||
| void return_message(std::shared_ptr<void> & message) override; | ||
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| RCLCPP_PUBLIC | ||
| void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override; | ||
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| // RUNTIME TYPE ================================================================================== | ||
| // TODO(methylDragon): Reorder later | ||
| RCLCPP_PUBLIC | ||
| std::shared_ptr<ser_dynamic_type_t> | ||
| get_dynamic_type() override; | ||
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| RCLCPP_PUBLIC | ||
| std::shared_ptr<ser_dynamic_data_t> | ||
| get_dynamic_data() override; | ||
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| RCLCPP_PUBLIC | ||
| std::shared_ptr<serialization_support_t> | ||
| get_serialization_support() override; | ||
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| RCLCPP_PUBLIC | ||
| void handle_runtime_type_message( | ||
| const std::shared_ptr<serialization_support_t> & ser, | ||
| const std::shared_ptr<ser_dynamic_data_t> & dyn_data, | ||
| const rclcpp::MessageInfo & message_info | ||
| ) override; | ||
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| private: | ||
| RCLCPP_DISABLE_COPY(RuntimeTypeSubscription) | ||
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| rosidl_message_type_support_t & ts_; | ||
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| std::function<void( | ||
| std::shared_ptr<serialization_support_t>, std::shared_ptr<ser_dynamic_data_t> | ||
| )> callback_; | ||
| }; | ||
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| } // namespace rclcpp | ||
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| #endif // RCLCPP__RUNTIME_TYPE_SUBSCRIPTION_HPP_ |
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