liu isad / rosserial_mbed_lib

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Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

ros/subscriber.h@5:c30c76e8c3f1, 2014-05-08 (annotated)

Committer:
isad
Date:
Thu May 08 06:34:18 2014 +0000
Revision:
5:c30c76e8c3f1
Parent:
3:1cf99502f396 
rosserial_mbed for ROS hydro

Who changed what in which revision?

UserRevisionLine numberNew contents of line
isad 5:c30c76e8c3f1 1 /*
isad 5:c30c76e8c3f1 2 * Software License Agreement (BSD License)
isad 5:c30c76e8c3f1 3 *
isad 5:c30c76e8c3f1 4 * Copyright (c) 2011, Willow Garage, Inc.
isad 5:c30c76e8c3f1 5 * All rights reserved.
isad 5:c30c76e8c3f1 6 *
isad 5:c30c76e8c3f1 7 * Redistribution and use in source and binary forms, with or without
isad 5:c30c76e8c3f1 8 * modification, are permitted provided that the following conditions
isad 5:c30c76e8c3f1 9 * are met:
isad 5:c30c76e8c3f1 10 *
isad 5:c30c76e8c3f1 11 * * Redistributions of source code must retain the above copyright
isad 5:c30c76e8c3f1 12 * notice, this list of conditions and the following disclaimer.
isad 5:c30c76e8c3f1 13 * * Redistributions in binary form must reproduce the above
isad 5:c30c76e8c3f1 14 * copyright notice, this list of conditions and the following
isad 5:c30c76e8c3f1 15 * disclaimer in the documentation and/or other materials provided
isad 5:c30c76e8c3f1 16 * with the distribution.
isad 5:c30c76e8c3f1 17 * * Neither the name of Willow Garage, Inc. nor the names of its
isad 5:c30c76e8c3f1 18 * contributors may be used to endorse or promote prducts derived
isad 5:c30c76e8c3f1 19 * from this software without specific prior written permission.
isad 5:c30c76e8c3f1 20 *
isad 5:c30c76e8c3f1 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
isad 5:c30c76e8c3f1 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
isad 5:c30c76e8c3f1 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
isad 5:c30c76e8c3f1 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
isad 5:c30c76e8c3f1 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
isad 5:c30c76e8c3f1 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
isad 5:c30c76e8c3f1 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
isad 5:c30c76e8c3f1 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
isad 5:c30c76e8c3f1 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
isad 5:c30c76e8c3f1 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
isad 5:c30c76e8c3f1 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
isad 5:c30c76e8c3f1 32 * POSSIBILITY OF SUCH DAMAGE.
isad 5:c30c76e8c3f1 33 */
isad 5:c30c76e8c3f1 34
isad 5:c30c76e8c3f1 35 #ifndef ROS_SUBSCRIBER_H_
isad 5:c30c76e8c3f1 36 #define ROS_SUBSCRIBER_H_
isad 5:c30c76e8c3f1 37
isad 5:c30c76e8c3f1 38 #include "rosserial_msgs/TopicInfo.h"
isad 5:c30c76e8c3f1 39
isad 5:c30c76e8c3f1 40 namespace ros {
isad 5:c30c76e8c3f1 41
isad 5:c30c76e8c3f1 42 /* Base class for objects subscribers. */
isad 5:c30c76e8c3f1 43 class Subscriber_
isad 5:c30c76e8c3f1 44 {
isad 5:c30c76e8c3f1 45 public:
isad 5:c30c76e8c3f1 46 virtual void callback(unsigned char *data)=0;
isad 5:c30c76e8c3f1 47 virtual int getEndpointType()=0;
isad 5:c30c76e8c3f1 48
isad 5:c30c76e8c3f1 49 // id_ is set by NodeHandle when we advertise
isad 5:c30c76e8c3f1 50 int id_;
isad 5:c30c76e8c3f1 51
isad 5:c30c76e8c3f1 52 virtual const char * getMsgType()=0;
isad 5:c30c76e8c3f1 53 virtual const char * getMsgMD5()=0;
isad 5:c30c76e8c3f1 54 const char * topic_;
isad 5:c30c76e8c3f1 55 };
isad 5:c30c76e8c3f1 56
isad 5:c30c76e8c3f1 57
isad 5:c30c76e8c3f1 58 /* Actual subscriber, templated on message type. */
isad 5:c30c76e8c3f1 59 template<typename MsgT>
isad 5:c30c76e8c3f1 60 class Subscriber: public Subscriber_{
isad 5:c30c76e8c3f1 61 public:
isad 5:c30c76e8c3f1 62 typedef void(*CallbackT)(const MsgT&);
isad 5:c30c76e8c3f1 63 MsgT msg;
isad 5:c30c76e8c3f1 64
isad 5:c30c76e8c3f1 65 Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
isad 5:c30c76e8c3f1 66 cb_(cb),
isad 5:c30c76e8c3f1 67 endpoint_(endpoint)
isad 5:c30c76e8c3f1 68 {
isad 5:c30c76e8c3f1 69 topic_ = topic_name;
isad 5:c30c76e8c3f1 70 };
isad 5:c30c76e8c3f1 71
isad 5:c30c76e8c3f1 72 virtual void callback(unsigned char* data){
isad 5:c30c76e8c3f1 73 msg.deserialize(data);
isad 5:c30c76e8c3f1 74 this->cb_(msg);
isad 5:c30c76e8c3f1 75 }
isad 5:c30c76e8c3f1 76
isad 5:c30c76e8c3f1 77 virtual const char * getMsgType(){ return this->msg.getType(); }
isad 5:c30c76e8c3f1 78 virtual const char * getMsgMD5(){ return this->msg.getMD5(); }
isad 5:c30c76e8c3f1 79 virtual int getEndpointType(){ return endpoint_; }
isad 5:c30c76e8c3f1 80
isad 5:c30c76e8c3f1 81 private:
isad 5:c30c76e8c3f1 82 CallbackT cb_;
isad 5:c30c76e8c3f1 83 int endpoint_;
isad 5:c30c76e8c3f1 84 };
isad 5:c30c76e8c3f1 85
isad 5:c30c76e8c3f1 86 }
isad 5:c30c76e8c3f1 87
isad 5:c30c76e8c3f1 88 #endif