rosserial for Hydro
Fork of rosserial_mbed_lib by
ros/subscriber.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 1:ff0ec969dad1:
/* * 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_ids.h" #include "msg_receiver.h" namespace ros { /* ROS Subscriber * This class handles holding the msg so that * it is not continously reallocated. It is also used by the * node handle to keep track of callback functions and IDs. */ template<typename MsgT> class Subscriber: public MsgReceiver{ public: typedef void(*CallbackT)(const MsgT&); MsgT msg; Subscriber(const char * topic_name, CallbackT msgCB){ topic_ = topic_name; cb_= msgCB; } virtual void receive(unsigned char* data){ msg.deserialize(data); this->cb_(msg); } virtual const char * getMsgType(){return this->msg.getType();} virtual int _getType(){return TOPIC_SUBSCRIBERS;} private: CallbackT cb_; }; } #endif