make changes on buffer serial
ros/subscriber.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 0:04ac6be8229a
File content as of revision 0:04ac6be8229a:
/* * 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