modify for Hydro version
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Diff: ros/subscriber.h
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
diff -r 77afd7560544 -r ff0ec969dad1 ros/subscriber.h --- 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