subscriber.h

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, Willow Garage, Inc.
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions
00009  * are met:
00010  *
00011  *  * Redistributions of source code must retain the above copyright
00012  *    notice, this list of conditions and the following disclaimer.
00013  *  * Redistributions in binary form must reproduce the above
00014  *    copyright notice, this list of conditions and the following
00015  *    disclaimer in the documentation and/or other materials provided
00016  *    with the distribution.
00017  *  * Neither the name of Willow Garage, Inc. nor the names of its
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00019  *    from this software without specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00027  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034 
00035 #ifndef ROS_SUBSCRIBER_H_
00036 #define ROS_SUBSCRIBER_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 
00040 namespace ros {
00041 
00042   /* Base class for objects subscribers. */
00043   class Subscriber_
00044   {
00045     public:
00046       virtual void callback(unsigned char *data)=0;
00047       virtual int getEndpointType()=0;
00048 
00049       // id_ is set by NodeHandle when we advertise
00050       int id_;
00051 
00052       virtual const char * getMsgType()=0;
00053       virtual const char * getMsgMD5()=0;
00054       const char * topic_;
00055   };
00056 
00057   /* Bound function subscriber. */
00058   template<typename MsgT, typename ObjT=void>
00059   class Subscriber: public Subscriber_
00060   {
00061     public:
00062       typedef void(ObjT::*CallbackT)(const MsgT&);
00063       MsgT msg;
00064 
00065       Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
00066         cb_(cb),
00067         obj_(obj),
00068         endpoint_(endpoint)
00069       {
00070         topic_ = topic_name;
00071       };
00072 
00073       virtual void callback(unsigned char* data)
00074       {
00075         msg.deserialize(data);
00076         (obj_->*cb_)(msg);
00077       }
00078 
00079       virtual const char * getMsgType() { return this->msg.getType(); }
00080       virtual const char * getMsgMD5() { return this->msg.getMD5(); }
00081       virtual int getEndpointType() { return endpoint_; }
00082 
00083     private:
00084       CallbackT cb_;
00085       ObjT* obj_;
00086       int endpoint_;
00087   };
00088 
00089   /* Standalone function subscriber. */
00090   template<typename MsgT>
00091   class Subscriber<MsgT, void>: public Subscriber_
00092   {
00093     public:
00094       typedef void(*CallbackT)(const MsgT&);
00095       MsgT msg;
00096 
00097       Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
00098         cb_(cb),
00099         endpoint_(endpoint)
00100       {
00101         topic_ = topic_name;
00102       };
00103 
00104       virtual void callback(unsigned char* data)
00105       {
00106         msg.deserialize(data);
00107         this->cb_(msg);
00108       }
00109 
00110       virtual const char * getMsgType() { return this->msg.getType(); }
00111       virtual const char * getMsgMD5() { return this->msg.getMD5(); }
00112       virtual int getEndpointType() { return endpoint_; }
00113 
00114     private:
00115       CallbackT cb_;
00116       int endpoint_;
00117   };
00118 
00119 }
00120 
00121 #endif