subscription_options.hpp

// Copyright 2019 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.
 
#ifndef RCLCPP__SUBSCRIPTION_OPTIONS_HPP_
#define RCLCPP__SUBSCRIPTION_OPTIONS_HPP_
 
#include <chrono>
#include <memory>
#include <string>
#include <type_traits>
#include <vector>
 
#include "rclcpp/callback_group.hpp"
#include "rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp"
#include "rclcpp/intra_process_buffer_type.hpp"
#include "rclcpp/intra_process_setting.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/event_handler.hpp"
#include "rclcpp/qos_overriding_options.hpp"
#include "rclcpp/subscription_content_filter_options.hpp"
#include "rclcpp/topic_statistics_state.hpp"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
 
struct SubscriptionOptionsBase
{
  SubscriptionEventCallbacks event_callbacks;
 
  bool use_default_callbacks = true;
 
  bool ignore_local_publications = false;
 
  rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints =
    RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED;
 
  rclcpp::CallbackGroup::SharedPtr callback_group = nullptr;
 
  IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;
 
  IntraProcessBufferType intra_process_buffer_type = IntraProcessBufferType::CallbackDefault;
 
  std::shared_ptr<rclcpp::detail::RMWImplementationSpecificSubscriptionPayload>
  rmw_implementation_payload = nullptr;
 
  // Options to configure topic statistics collector in the subscription.
  struct TopicStatisticsOptions
  {
    // Enable and disable topic statistics calculation and publication. Defaults to disabled.
    TopicStatisticsState state = TopicStatisticsState::NodeDefault;
 
    // Topic to which topic statistics get published when enabled. Defaults to /statistics.
    std::string publish_topic = "/statistics";
 
    // Topic statistics publication period in ms. Defaults to one second.
    // Only values greater than zero are allowed.
    std::chrono::milliseconds publish_period{std::chrono::seconds(1)};
 
    // An optional QoS which can provide topic_statistics with a stable QoS separate from
    // the subscription's current QoS settings which could be unstable.
    // Explicitly set the enough depth to avoid missing the statistics messages.
    rclcpp::QoS qos = SystemDefaultsQoS().keep_last(10);
  };
 
  TopicStatisticsOptions topic_stats_options;
 
  QosOverridingOptions qos_overriding_options;
 
  ContentFilterOptions content_filter_options;
};
 
template<typename Allocator>
struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
{
  static_assert(
    std::is_void_v<typename std::allocator_traits<Allocator>::value_type>,
    "Subscription allocator value type must be void");
 
  std::shared_ptr<Allocator> allocator = nullptr;
 
  SubscriptionOptionsWithAllocator() {}
 
  explicit SubscriptionOptionsWithAllocator(
    const SubscriptionOptionsBase & subscription_options_base)
  : SubscriptionOptionsBase(subscription_options_base)
  {}
 
 
  rcl_subscription_options_t
  to_rcl_subscription_options(const rclcpp::QoS & qos) const
  {
    rcl_subscription_options_t result = rcl_subscription_get_default_options();
    result.allocator = this->get_rcl_allocator();
    result.qos = qos.get_rmw_qos_profile();
    result.rmw_subscription_options.ignore_local_publications = this->ignore_local_publications;
    result.rmw_subscription_options.require_unique_network_flow_endpoints =
      this->require_unique_network_flow_endpoints;
 
    // Apply payload to rcl_subscription_options if necessary.
    if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {
      rmw_implementation_payload->modify_rmw_subscription_options(result.rmw_subscription_options);
    }
 
    // Copy content_filter_options into rcl_subscription_options.
    if (!content_filter_options.filter_expression.empty()) {
      std::vector<const char *> cstrings =
        get_c_vector_string(content_filter_options.expression_parameters);
      rcl_ret_t ret = rcl_subscription_options_set_content_filter_options(
        get_c_string(content_filter_options.filter_expression),
        cstrings.size(),
        cstrings.data(),
        &result);
      if (RCL_RET_OK != ret) {
        rclcpp::exceptions::throw_from_rcl_error(
          ret, "failed to set content_filter_options");
      }
    }
 
    return result;
  }
 
  std::shared_ptr<Allocator>
  get_allocator() const
  {
    if (!this->allocator) {
      if (!allocator_storage_) {
        allocator_storage_ = std::make_shared<Allocator>();
      }
      return allocator_storage_;
    }
    return this->allocator;
  }
 
private:
  using PlainAllocator =
    typename std::allocator_traits<Allocator>::template rebind_alloc<char>;
 
  rcl_allocator_t
  get_rcl_allocator() const
  {
    if (!plain_allocator_storage_) {
      plain_allocator_storage_ =
        std::make_shared<PlainAllocator>(*this->get_allocator());
    }
    return rclcpp::allocator::get_rcl_allocator<char>(*plain_allocator_storage_);
  }
 
  // This is a temporal workaround, to make sure that get_allocator()
  // always returns a copy of the same allocator.
  mutable std::shared_ptr<Allocator> allocator_storage_;
 
  // This is a temporal workaround, to keep the plain allocator that backs
  // up the rcl allocator returned in rcl_subscription_options_t alive.
  mutable std::shared_ptr<PlainAllocator> plain_allocator_storage_;
};
 
using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;
}  // namespace rclcpp
 
#endif  // RCLCPP__SUBSCRIPTION_OPTIONS_HPP_