Pipe Inpection Robot / Mbed OS capstone_finish

capstone_finish

Dependencies:   BufferedSerial motor_sn7544

ros/subscriber.h@3:2a3664dc6634, 2019-08-13 (annotated)

Committer:
Jeonghoon
Date:
Tue Aug 13 05:53:22 2019 +0000
Revision:
3:2a3664dc6634
with ROS;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 /*
Jeonghoon 3:2a3664dc6634 2 * Software License Agreement (BSD License)
Jeonghoon 3:2a3664dc6634 3 *
Jeonghoon 3:2a3664dc6634 4 * Copyright (c) 2011, Willow Garage, Inc.
Jeonghoon 3:2a3664dc6634 5 * All rights reserved.
Jeonghoon 3:2a3664dc6634 6 *
Jeonghoon 3:2a3664dc6634 7 * Redistribution and use in source and binary forms, with or without
Jeonghoon 3:2a3664dc6634 8 * modification, are permitted provided that the following conditions
Jeonghoon 3:2a3664dc6634 9 * are met:
Jeonghoon 3:2a3664dc6634 10 *
Jeonghoon 3:2a3664dc6634 11 * * Redistributions of source code must retain the above copyright
Jeonghoon 3:2a3664dc6634 12 * notice, this list of conditions and the following disclaimer.
Jeonghoon 3:2a3664dc6634 13 * * Redistributions in binary form must reproduce the above
Jeonghoon 3:2a3664dc6634 14 * copyright notice, this list of conditions and the following
Jeonghoon 3:2a3664dc6634 15 * disclaimer in the documentation and/or other materials provided
Jeonghoon 3:2a3664dc6634 16 * with the distribution.
Jeonghoon 3:2a3664dc6634 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Jeonghoon 3:2a3664dc6634 18 * contributors may be used to endorse or promote prducts derived
Jeonghoon 3:2a3664dc6634 19 * from this software without specific prior written permission.
Jeonghoon 3:2a3664dc6634 20 *
Jeonghoon 3:2a3664dc6634 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Jeonghoon 3:2a3664dc6634 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Jeonghoon 3:2a3664dc6634 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Jeonghoon 3:2a3664dc6634 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Jeonghoon 3:2a3664dc6634 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Jeonghoon 3:2a3664dc6634 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Jeonghoon 3:2a3664dc6634 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Jeonghoon 3:2a3664dc6634 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Jeonghoon 3:2a3664dc6634 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Jeonghoon 3:2a3664dc6634 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Jeonghoon 3:2a3664dc6634 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Jeonghoon 3:2a3664dc6634 32 * POSSIBILITY OF SUCH DAMAGE.
Jeonghoon 3:2a3664dc6634 33 */
Jeonghoon 3:2a3664dc6634 34
Jeonghoon 3:2a3664dc6634 35 #ifndef ROS_SUBSCRIBER_H_
Jeonghoon 3:2a3664dc6634 36 #define ROS_SUBSCRIBER_H_
Jeonghoon 3:2a3664dc6634 37
Jeonghoon 3:2a3664dc6634 38 #include "rosserial_msgs/TopicInfo.h"
Jeonghoon 3:2a3664dc6634 39
Jeonghoon 3:2a3664dc6634 40 namespace ros {
Jeonghoon 3:2a3664dc6634 41
Jeonghoon 3:2a3664dc6634 42 /* Base class for objects subscribers. */
Jeonghoon 3:2a3664dc6634 43 class Subscriber_
Jeonghoon 3:2a3664dc6634 44 {
Jeonghoon 3:2a3664dc6634 45 public:
Jeonghoon 3:2a3664dc6634 46 virtual void callback(unsigned char *data)=0;
Jeonghoon 3:2a3664dc6634 47 virtual int getEndpointType()=0;
Jeonghoon 3:2a3664dc6634 48
Jeonghoon 3:2a3664dc6634 49 // id_ is set by NodeHandle when we advertise
Jeonghoon 3:2a3664dc6634 50 int id_;
Jeonghoon 3:2a3664dc6634 51
Jeonghoon 3:2a3664dc6634 52 virtual const char * getMsgType()=0;
Jeonghoon 3:2a3664dc6634 53 virtual const char * getMsgMD5()=0;
Jeonghoon 3:2a3664dc6634 54 const char * topic_;
Jeonghoon 3:2a3664dc6634 55 };
Jeonghoon 3:2a3664dc6634 56
Jeonghoon 3:2a3664dc6634 57 /* Bound function subscriber. */
Jeonghoon 3:2a3664dc6634 58 template<typename MsgT, typename ObjT=void>
Jeonghoon 3:2a3664dc6634 59 class Subscriber: public Subscriber_
Jeonghoon 3:2a3664dc6634 60 {
Jeonghoon 3:2a3664dc6634 61 public:
Jeonghoon 3:2a3664dc6634 62 typedef void(ObjT::*CallbackT)(const MsgT&);
Jeonghoon 3:2a3664dc6634 63 MsgT msg;
Jeonghoon 3:2a3664dc6634 64
Jeonghoon 3:2a3664dc6634 65 Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
Jeonghoon 3:2a3664dc6634 66 cb_(cb),
Jeonghoon 3:2a3664dc6634 67 obj_(obj),
Jeonghoon 3:2a3664dc6634 68 endpoint_(endpoint)
Jeonghoon 3:2a3664dc6634 69 {
Jeonghoon 3:2a3664dc6634 70 topic_ = topic_name;
Jeonghoon 3:2a3664dc6634 71 };
Jeonghoon 3:2a3664dc6634 72
Jeonghoon 3:2a3664dc6634 73 virtual void callback(unsigned char* data)
Jeonghoon 3:2a3664dc6634 74 {
Jeonghoon 3:2a3664dc6634 75 msg.deserialize(data);
Jeonghoon 3:2a3664dc6634 76 (obj_->*cb_)(msg);
Jeonghoon 3:2a3664dc6634 77 }
Jeonghoon 3:2a3664dc6634 78
Jeonghoon 3:2a3664dc6634 79 virtual const char * getMsgType() { return this->msg.getType(); }
Jeonghoon 3:2a3664dc6634 80 virtual const char * getMsgMD5() { return this->msg.getMD5(); }
Jeonghoon 3:2a3664dc6634 81 virtual int getEndpointType() { return endpoint_; }
Jeonghoon 3:2a3664dc6634 82
Jeonghoon 3:2a3664dc6634 83 private:
Jeonghoon 3:2a3664dc6634 84 CallbackT cb_;
Jeonghoon 3:2a3664dc6634 85 ObjT* obj_;
Jeonghoon 3:2a3664dc6634 86 int endpoint_;
Jeonghoon 3:2a3664dc6634 87 };
Jeonghoon 3:2a3664dc6634 88
Jeonghoon 3:2a3664dc6634 89 /* Standalone function subscriber. */
Jeonghoon 3:2a3664dc6634 90 template<typename MsgT>
Jeonghoon 3:2a3664dc6634 91 class Subscriber<MsgT, void>: public Subscriber_
Jeonghoon 3:2a3664dc6634 92 {
Jeonghoon 3:2a3664dc6634 93 public:
Jeonghoon 3:2a3664dc6634 94 typedef void(*CallbackT)(const MsgT&);
Jeonghoon 3:2a3664dc6634 95 MsgT msg;
Jeonghoon 3:2a3664dc6634 96
Jeonghoon 3:2a3664dc6634 97 Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
Jeonghoon 3:2a3664dc6634 98 cb_(cb),
Jeonghoon 3:2a3664dc6634 99 endpoint_(endpoint)
Jeonghoon 3:2a3664dc6634 100 {
Jeonghoon 3:2a3664dc6634 101 topic_ = topic_name;
Jeonghoon 3:2a3664dc6634 102 };
Jeonghoon 3:2a3664dc6634 103
Jeonghoon 3:2a3664dc6634 104 virtual void callback(unsigned char* data)
Jeonghoon 3:2a3664dc6634 105 {
Jeonghoon 3:2a3664dc6634 106 msg.deserialize(data);
Jeonghoon 3:2a3664dc6634 107 this->cb_(msg);
Jeonghoon 3:2a3664dc6634 108 }
Jeonghoon 3:2a3664dc6634 109
Jeonghoon 3:2a3664dc6634 110 virtual const char * getMsgType() { return this->msg.getType(); }
Jeonghoon 3:2a3664dc6634 111 virtual const char * getMsgMD5() { return this->msg.getMD5(); }
Jeonghoon 3:2a3664dc6634 112 virtual int getEndpointType() { return endpoint_; }
Jeonghoon 3:2a3664dc6634 113
Jeonghoon 3:2a3664dc6634 114 private:
Jeonghoon 3:2a3664dc6634 115 CallbackT cb_;
Jeonghoon 3:2a3664dc6634 116 int endpoint_;
Jeonghoon 3:2a3664dc6634 117 };
Jeonghoon 3:2a3664dc6634 118
Jeonghoon 3:2a3664dc6634 119 }
Jeonghoon 3:2a3664dc6634 120
Jeonghoon 3:2a3664dc6634 121 #endif