jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

ros/subscriber.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

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jjzak 6:3c54bc7badd4 1 /*
jjzak 6:3c54bc7badd4 2 * Software License Agreement (BSD License)
jjzak 6:3c54bc7badd4 3 *
jjzak 6:3c54bc7badd4 4 * Copyright (c) 2011, Willow Garage, Inc.
jjzak 6:3c54bc7badd4 5 * All rights reserved.
jjzak 6:3c54bc7badd4 6 *
jjzak 6:3c54bc7badd4 7 * Redistribution and use in source and binary forms, with or without
jjzak 6:3c54bc7badd4 8 * modification, are permitted provided that the following conditions
jjzak 6:3c54bc7badd4 9 * are met:
jjzak 6:3c54bc7badd4 10 *
jjzak 6:3c54bc7badd4 11 * * Redistributions of source code must retain the above copyright
jjzak 6:3c54bc7badd4 12 * notice, this list of conditions and the following disclaimer.
jjzak 6:3c54bc7badd4 13 * * Redistributions in binary form must reproduce the above
jjzak 6:3c54bc7badd4 14 * copyright notice, this list of conditions and the following
jjzak 6:3c54bc7badd4 15 * disclaimer in the documentation and/or other materials provided
jjzak 6:3c54bc7badd4 16 * with the distribution.
jjzak 6:3c54bc7badd4 17 * * Neither the name of Willow Garage, Inc. nor the names of its
jjzak 6:3c54bc7badd4 18 * contributors may be used to endorse or promote prducts derived
jjzak 6:3c54bc7badd4 19 * from this software without specific prior written permission.
jjzak 6:3c54bc7badd4 20 *
jjzak 6:3c54bc7badd4 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
jjzak 6:3c54bc7badd4 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
jjzak 6:3c54bc7badd4 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
jjzak 6:3c54bc7badd4 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
jjzak 6:3c54bc7badd4 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
jjzak 6:3c54bc7badd4 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
jjzak 6:3c54bc7badd4 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
jjzak 6:3c54bc7badd4 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
jjzak 6:3c54bc7badd4 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
jjzak 6:3c54bc7badd4 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
jjzak 6:3c54bc7badd4 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
jjzak 6:3c54bc7badd4 32 * POSSIBILITY OF SUCH DAMAGE.
jjzak 6:3c54bc7badd4 33 */
jjzak 6:3c54bc7badd4 34
jjzak 6:3c54bc7badd4 35 #ifndef ROS_SUBSCRIBER_H_
jjzak 6:3c54bc7badd4 36 #define ROS_SUBSCRIBER_H_
jjzak 6:3c54bc7badd4 37
jjzak 6:3c54bc7badd4 38 #include "rosserial_msgs/TopicInfo.h"
jjzak 6:3c54bc7badd4 39
jjzak 6:3c54bc7badd4 40 namespace ros {
jjzak 6:3c54bc7badd4 41
jjzak 6:3c54bc7badd4 42 /* Base class for objects subscribers. */
jjzak 6:3c54bc7badd4 43 class Subscriber_
jjzak 6:3c54bc7badd4 44 {
jjzak 6:3c54bc7badd4 45 public:
jjzak 6:3c54bc7badd4 46 virtual void callback(unsigned char *data)=0;
jjzak 6:3c54bc7badd4 47 virtual int getEndpointType()=0;
jjzak 6:3c54bc7badd4 48
jjzak 6:3c54bc7badd4 49 // id_ is set by NodeHandle when we advertise
jjzak 6:3c54bc7badd4 50 int id_;
jjzak 6:3c54bc7badd4 51
jjzak 6:3c54bc7badd4 52 virtual const char * getMsgType()=0;
jjzak 6:3c54bc7badd4 53 virtual const char * getMsgMD5()=0;
jjzak 6:3c54bc7badd4 54 const char * topic_;
jjzak 6:3c54bc7badd4 55 };
jjzak 6:3c54bc7badd4 56
jjzak 6:3c54bc7badd4 57
jjzak 6:3c54bc7badd4 58 /* Actual subscriber, templated on message type. */
jjzak 6:3c54bc7badd4 59 template<typename MsgT>
jjzak 6:3c54bc7badd4 60 class Subscriber: public Subscriber_{
jjzak 6:3c54bc7badd4 61 public:
jjzak 6:3c54bc7badd4 62 typedef void(*CallbackT)(const MsgT&);
jjzak 6:3c54bc7badd4 63 MsgT msg;
jjzak 6:3c54bc7badd4 64
jjzak 6:3c54bc7badd4 65 Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
jjzak 6:3c54bc7badd4 66 cb_(cb),
jjzak 6:3c54bc7badd4 67 endpoint_(endpoint)
jjzak 6:3c54bc7badd4 68 {
jjzak 6:3c54bc7badd4 69 topic_ = topic_name;
jjzak 6:3c54bc7badd4 70 };
jjzak 6:3c54bc7badd4 71
jjzak 6:3c54bc7badd4 72 virtual void callback(unsigned char* data){
jjzak 6:3c54bc7badd4 73 msg.deserialize(data);
jjzak 6:3c54bc7badd4 74 this->cb_(msg);
jjzak 6:3c54bc7badd4 75 }
jjzak 6:3c54bc7badd4 76
jjzak 6:3c54bc7badd4 77 virtual const char * getMsgType(){ return this->msg.getType(); }
jjzak 6:3c54bc7badd4 78 virtual const char * getMsgMD5(){ return this->msg.getMD5(); }
jjzak 6:3c54bc7badd4 79 virtual int getEndpointType(){ return endpoint_; }
jjzak 6:3c54bc7badd4 80
jjzak 6:3c54bc7badd4 81 private:
jjzak 6:3c54bc7badd4 82 CallbackT cb_;
jjzak 6:3c54bc7badd4 83 int endpoint_;
jjzak 6:3c54bc7badd4 84 };
jjzak 6:3c54bc7badd4 85
jjzak 6:3c54bc7badd4 86 }
jjzak 6:3c54bc7badd4 87
jjzak 6:3c54bc7badd4 88 #endif
jjzak 6:3c54bc7badd4 89