Gazebo Transport

API Reference

13.4.0
TransportTypes.hh
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1 /*
2  * Copyright (C) 2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_TRANSPORT_TRANSPORTTYPES_HH_
18 #define GZ_TRANSPORT_TRANSPORTTYPES_HH_
19 
20 #ifdef _MSC_VER
21 #pragma warning(push)
22 #pragma warning(disable: 4251)
23 #endif
24 #include <google/protobuf/message.h>
25 #ifdef _MSC_VER
26 #pragma warning(pop)
27 #endif
28 
29 #include <chrono>
30 #include <functional>
31 #include <map>
32 #include <memory>
33 #include <string>
34 #include <vector>
35 
36 #include "gz/transport/config.hh"
38 
39 namespace gz
40 {
41  namespace transport
42  {
43  // Inline bracket to help doxygen filtering.
44  inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
45  //
47  class IRepHandler;
48  class IReqHandler;
49  class ISubscriptionHandler;
50  class RawSubscriptionHandler;
51  class MessageInfo;
52 
58  template<typename T>
60 
64 
68 
71  using ProtoMsg = google::protobuf::Message;
72 
76 
80 
84 
92 
99 
103 
107 
115 
121  template <typename T>
122  using DiscoveryCallback = std::function<void(const T &_publisher)>;
123 
128  std::function<void(const MessagePublisher &_publisher)>;
129 
134  std::function<void(const ServicePublisher &_publisher)>;
135 
140  template <typename T>
141  using MsgCallback =
142  std::function<void(const T &_msg, const MessageInfo &_info)>;
143 
150  using RawCallback =
151  std::function<void(const char *_msgData, const size_t _size,
152  const MessageInfo &_info)>;
153 
156  using Timestamp = std::chrono::steady_clock::time_point;
157 
172  using DeallocFunc = void(void *_data, void *_hint);
173 
175  const std::string kGenericMessageType = "google.protobuf.Message";
176 
179  const int kDefaultRcvHwm = 1000;
180 
183  const int kDefaultSndHwm = 1000;
184  }
185  }
186 }
187 #endif