Diff: ros/subscriber.h

Revision:

1:ff0ec969dad1

Parent:

0:77afd7560544

Child:

3:1cf99502f396

--- a/ros/subscriber.h	Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/subscriber.h	Sun Oct 16 07:19:36 2011 +0000
@@ -1,42 +1,73 @@
-/*
- * subscriber.h
+/* 
+ * 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:
  *
- *  Created on: Aug 5, 2011
- *      Author: astambler
+ *  * 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 SUBSCRIBER_H_
-#define SUBSCRIBER_H_
+#ifndef ROS_SUBSCRIBER_H_
+#define ROS_SUBSCRIBER_H_
 
 #include "rosserial_ids.h"
 #include "msg_receiver.h"
-namespace ros{
+
+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:
-
+  /* 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;
-    }
-    MsgT msg;
-    virtual void receive(unsigned char* data){
-      msg.deserialize(data);
-      this->cb_(msg);
+        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_;
-};
+
+      virtual const char * getMsgType(){return this->msg.getType();}
+      virtual int _getType(){return TOPIC_SUBSCRIBERS;}
+
+    private:
+      CallbackT cb_;
+  };
 
 }
-#endif /* SUBSCRIBER_H_ */
+
+#endif
\ No newline at end of file