Fork of ROS Serial Library
Dependencies: BufferedSerial
Diff: ros/subscriber.h
- Revision:
- 0:9e9b7db60fd5
diff -r 000000000000 -r 9e9b7db60fd5 ros/subscriber.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ros/subscriber.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,121 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2011, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote prducts derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef ROS_SUBSCRIBER_H_ +#define ROS_SUBSCRIBER_H_ + +#include "rosserial_msgs/TopicInfo.h" + +namespace ros { + + /* Base class for objects subscribers. */ + class Subscriber_ + { + public: + virtual void callback(unsigned char *data)=0; + virtual int getEndpointType()=0; + + // id_ is set by NodeHandle when we advertise + int id_; + + virtual const char * getMsgType()=0; + virtual const char * getMsgMD5()=0; + const char * topic_; + }; + + /* Bound function subscriber. */ + template<typename MsgT, typename ObjT=void> + class Subscriber: public Subscriber_ + { + public: + typedef void(ObjT::*CallbackT)(const MsgT&); + MsgT msg; + + Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) : + cb_(cb), + obj_(obj), + endpoint_(endpoint) + { + topic_ = topic_name; + }; + + virtual void callback(unsigned char* data) + { + msg.deserialize(data); + (obj_->*cb_)(msg); + } + + virtual const char * getMsgType() { return this->msg.getType(); } + virtual const char * getMsgMD5() { return this->msg.getMD5(); } + virtual int getEndpointType() { return endpoint_; } + + private: + CallbackT cb_; + ObjT* obj_; + int endpoint_; + }; + + /* Standalone function subscriber. */ + template<typename MsgT> + class Subscriber<MsgT, void>: public Subscriber_ + { + public: + typedef void(*CallbackT)(const MsgT&); + MsgT msg; + + Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) : + cb_(cb), + endpoint_(endpoint) + { + topic_ = topic_name; + }; + + virtual void callback(unsigned char* data) + { + msg.deserialize(data); + this->cb_(msg); + } + + virtual const char * getMsgType() { return this->msg.getType(); } + virtual const char * getMsgMD5() { return this->msg.getMD5(); } + virtual int getEndpointType() { return endpoint_; } + + private: + CallbackT cb_; + int endpoint_; + }; + +} + +#endif