Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

ros/subscriber.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 /*
akashvibhute 0:30537dec6e0b 2 * Software License Agreement (BSD License)
akashvibhute 0:30537dec6e0b 3 *
akashvibhute 0:30537dec6e0b 4 * Copyright (c) 2011, Willow Garage, Inc.
akashvibhute 0:30537dec6e0b 5 * All rights reserved.
akashvibhute 0:30537dec6e0b 6 *
akashvibhute 0:30537dec6e0b 7 * Redistribution and use in source and binary forms, with or without
akashvibhute 0:30537dec6e0b 8 * modification, are permitted provided that the following conditions
akashvibhute 0:30537dec6e0b 9 * are met:
akashvibhute 0:30537dec6e0b 10 *
akashvibhute 0:30537dec6e0b 11 * * Redistributions of source code must retain the above copyright
akashvibhute 0:30537dec6e0b 12 * notice, this list of conditions and the following disclaimer.
akashvibhute 0:30537dec6e0b 13 * * Redistributions in binary form must reproduce the above
akashvibhute 0:30537dec6e0b 14 * copyright notice, this list of conditions and the following
akashvibhute 0:30537dec6e0b 15 * disclaimer in the documentation and/or other materials provided
akashvibhute 0:30537dec6e0b 16 * with the distribution.
akashvibhute 0:30537dec6e0b 17 * * Neither the name of Willow Garage, Inc. nor the names of its
akashvibhute 0:30537dec6e0b 18 * contributors may be used to endorse or promote prducts derived
akashvibhute 0:30537dec6e0b 19 * from this software without specific prior written permission.
akashvibhute 0:30537dec6e0b 20 *
akashvibhute 0:30537dec6e0b 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
akashvibhute 0:30537dec6e0b 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
akashvibhute 0:30537dec6e0b 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
akashvibhute 0:30537dec6e0b 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
akashvibhute 0:30537dec6e0b 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
akashvibhute 0:30537dec6e0b 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
akashvibhute 0:30537dec6e0b 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
akashvibhute 0:30537dec6e0b 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
akashvibhute 0:30537dec6e0b 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
akashvibhute 0:30537dec6e0b 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
akashvibhute 0:30537dec6e0b 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
akashvibhute 0:30537dec6e0b 32 * POSSIBILITY OF SUCH DAMAGE.
akashvibhute 0:30537dec6e0b 33 */
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 #ifndef ROS_SUBSCRIBER_H_
akashvibhute 0:30537dec6e0b 36 #define ROS_SUBSCRIBER_H_
akashvibhute 0:30537dec6e0b 37
akashvibhute 0:30537dec6e0b 38 #include "rosserial_msgs/TopicInfo.h"
akashvibhute 0:30537dec6e0b 39
akashvibhute 0:30537dec6e0b 40 namespace ros {
akashvibhute 0:30537dec6e0b 41
akashvibhute 0:30537dec6e0b 42 /* Base class for objects subscribers. */
akashvibhute 0:30537dec6e0b 43 class Subscriber_
akashvibhute 0:30537dec6e0b 44 {
akashvibhute 0:30537dec6e0b 45 public:
akashvibhute 0:30537dec6e0b 46 virtual void callback(unsigned char *data)=0;
akashvibhute 0:30537dec6e0b 47 virtual int getEndpointType()=0;
akashvibhute 0:30537dec6e0b 48
akashvibhute 0:30537dec6e0b 49 // id_ is set by NodeHandle when we advertise
akashvibhute 0:30537dec6e0b 50 int id_;
akashvibhute 0:30537dec6e0b 51
akashvibhute 0:30537dec6e0b 52 virtual const char * getMsgType()=0;
akashvibhute 0:30537dec6e0b 53 virtual const char * getMsgMD5()=0;
akashvibhute 0:30537dec6e0b 54 const char * topic_;
akashvibhute 0:30537dec6e0b 55 };
akashvibhute 0:30537dec6e0b 56
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 /* Actual subscriber, templated on message type. */
akashvibhute 0:30537dec6e0b 59 template<typename MsgT>
akashvibhute 0:30537dec6e0b 60 class Subscriber: public Subscriber_{
akashvibhute 0:30537dec6e0b 61 public:
akashvibhute 0:30537dec6e0b 62 typedef void(*CallbackT)(const MsgT&);
akashvibhute 0:30537dec6e0b 63 MsgT msg;
akashvibhute 0:30537dec6e0b 64
akashvibhute 0:30537dec6e0b 65 Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
akashvibhute 0:30537dec6e0b 66 cb_(cb),
akashvibhute 0:30537dec6e0b 67 endpoint_(endpoint)
akashvibhute 0:30537dec6e0b 68 {
akashvibhute 0:30537dec6e0b 69 topic_ = topic_name;
akashvibhute 0:30537dec6e0b 70 };
akashvibhute 0:30537dec6e0b 71
akashvibhute 0:30537dec6e0b 72 virtual void callback(unsigned char* data){
akashvibhute 0:30537dec6e0b 73 msg.deserialize(data);
akashvibhute 0:30537dec6e0b 74 this->cb_(msg);
akashvibhute 0:30537dec6e0b 75 }
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 virtual const char * getMsgType(){ return this->msg.getType(); }
akashvibhute 0:30537dec6e0b 78 virtual const char * getMsgMD5(){ return this->msg.getMD5(); }
akashvibhute 0:30537dec6e0b 79 virtual int getEndpointType(){ return endpoint_; }
akashvibhute 0:30537dec6e0b 80
akashvibhute 0:30537dec6e0b 81 private:
akashvibhute 0:30537dec6e0b 82 CallbackT cb_;
akashvibhute 0:30537dec6e0b 83 int endpoint_;
akashvibhute 0:30537dec6e0b 84 };
akashvibhute 0:30537dec6e0b 85
akashvibhute 0:30537dec6e0b 86 }
akashvibhute 0:30537dec6e0b 87
akashvibhute 0:30537dec6e0b 88 #endif
akashvibhute 0:30537dec6e0b 89