Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

ros/subscriber.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 /*
garyservin 0:9e9b7db60fd5 2 * Software License Agreement (BSD License)
garyservin 0:9e9b7db60fd5 3 *
garyservin 0:9e9b7db60fd5 4 * Copyright (c) 2011, Willow Garage, Inc.
garyservin 0:9e9b7db60fd5 5 * All rights reserved.
garyservin 0:9e9b7db60fd5 6 *
garyservin 0:9e9b7db60fd5 7 * Redistribution and use in source and binary forms, with or without
garyservin 0:9e9b7db60fd5 8 * modification, are permitted provided that the following conditions
garyservin 0:9e9b7db60fd5 9 * are met:
garyservin 0:9e9b7db60fd5 10 *
garyservin 0:9e9b7db60fd5 11 * * Redistributions of source code must retain the above copyright
garyservin 0:9e9b7db60fd5 12 * notice, this list of conditions and the following disclaimer.
garyservin 0:9e9b7db60fd5 13 * * Redistributions in binary form must reproduce the above
garyservin 0:9e9b7db60fd5 14 * copyright notice, this list of conditions and the following
garyservin 0:9e9b7db60fd5 15 * disclaimer in the documentation and/or other materials provided
garyservin 0:9e9b7db60fd5 16 * with the distribution.
garyservin 0:9e9b7db60fd5 17 * * Neither the name of Willow Garage, Inc. nor the names of its
garyservin 0:9e9b7db60fd5 18 * contributors may be used to endorse or promote prducts derived
garyservin 0:9e9b7db60fd5 19 * from this software without specific prior written permission.
garyservin 0:9e9b7db60fd5 20 *
garyservin 0:9e9b7db60fd5 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
garyservin 0:9e9b7db60fd5 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
garyservin 0:9e9b7db60fd5 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
garyservin 0:9e9b7db60fd5 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
garyservin 0:9e9b7db60fd5 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
garyservin 0:9e9b7db60fd5 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
garyservin 0:9e9b7db60fd5 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
garyservin 0:9e9b7db60fd5 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
garyservin 0:9e9b7db60fd5 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
garyservin 0:9e9b7db60fd5 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
garyservin 0:9e9b7db60fd5 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
garyservin 0:9e9b7db60fd5 32 * POSSIBILITY OF SUCH DAMAGE.
garyservin 0:9e9b7db60fd5 33 */
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 #ifndef ROS_SUBSCRIBER_H_
garyservin 0:9e9b7db60fd5 36 #define ROS_SUBSCRIBER_H_
garyservin 0:9e9b7db60fd5 37
garyservin 0:9e9b7db60fd5 38 #include "rosserial_msgs/TopicInfo.h"
garyservin 0:9e9b7db60fd5 39
garyservin 0:9e9b7db60fd5 40 namespace ros {
garyservin 0:9e9b7db60fd5 41
garyservin 0:9e9b7db60fd5 42 /* Base class for objects subscribers. */
garyservin 0:9e9b7db60fd5 43 class Subscriber_
garyservin 0:9e9b7db60fd5 44 {
garyservin 0:9e9b7db60fd5 45 public:
garyservin 0:9e9b7db60fd5 46 virtual void callback(unsigned char *data)=0;
garyservin 0:9e9b7db60fd5 47 virtual int getEndpointType()=0;
garyservin 0:9e9b7db60fd5 48
garyservin 0:9e9b7db60fd5 49 // id_ is set by NodeHandle when we advertise
garyservin 0:9e9b7db60fd5 50 int id_;
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual const char * getMsgType()=0;
garyservin 0:9e9b7db60fd5 53 virtual const char * getMsgMD5()=0;
garyservin 0:9e9b7db60fd5 54 const char * topic_;
garyservin 0:9e9b7db60fd5 55 };
garyservin 0:9e9b7db60fd5 56
garyservin 0:9e9b7db60fd5 57 /* Bound function subscriber. */
garyservin 0:9e9b7db60fd5 58 template<typename MsgT, typename ObjT=void>
garyservin 0:9e9b7db60fd5 59 class Subscriber: public Subscriber_
garyservin 0:9e9b7db60fd5 60 {
garyservin 0:9e9b7db60fd5 61 public:
garyservin 0:9e9b7db60fd5 62 typedef void(ObjT::*CallbackT)(const MsgT&);
garyservin 0:9e9b7db60fd5 63 MsgT msg;
garyservin 0:9e9b7db60fd5 64
garyservin 0:9e9b7db60fd5 65 Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
garyservin 0:9e9b7db60fd5 66 cb_(cb),
garyservin 0:9e9b7db60fd5 67 obj_(obj),
garyservin 0:9e9b7db60fd5 68 endpoint_(endpoint)
garyservin 0:9e9b7db60fd5 69 {
garyservin 0:9e9b7db60fd5 70 topic_ = topic_name;
garyservin 0:9e9b7db60fd5 71 };
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 virtual void callback(unsigned char* data)
garyservin 0:9e9b7db60fd5 74 {
garyservin 0:9e9b7db60fd5 75 msg.deserialize(data);
garyservin 0:9e9b7db60fd5 76 (obj_->*cb_)(msg);
garyservin 0:9e9b7db60fd5 77 }
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 virtual const char * getMsgType() { return this->msg.getType(); }
garyservin 0:9e9b7db60fd5 80 virtual const char * getMsgMD5() { return this->msg.getMD5(); }
garyservin 0:9e9b7db60fd5 81 virtual int getEndpointType() { return endpoint_; }
garyservin 0:9e9b7db60fd5 82
garyservin 0:9e9b7db60fd5 83 private:
garyservin 0:9e9b7db60fd5 84 CallbackT cb_;
garyservin 0:9e9b7db60fd5 85 ObjT* obj_;
garyservin 0:9e9b7db60fd5 86 int endpoint_;
garyservin 0:9e9b7db60fd5 87 };
garyservin 0:9e9b7db60fd5 88
garyservin 0:9e9b7db60fd5 89 /* Standalone function subscriber. */
garyservin 0:9e9b7db60fd5 90 template<typename MsgT>
garyservin 0:9e9b7db60fd5 91 class Subscriber<MsgT, void>: public Subscriber_
garyservin 0:9e9b7db60fd5 92 {
garyservin 0:9e9b7db60fd5 93 public:
garyservin 0:9e9b7db60fd5 94 typedef void(*CallbackT)(const MsgT&);
garyservin 0:9e9b7db60fd5 95 MsgT msg;
garyservin 0:9e9b7db60fd5 96
garyservin 0:9e9b7db60fd5 97 Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
garyservin 0:9e9b7db60fd5 98 cb_(cb),
garyservin 0:9e9b7db60fd5 99 endpoint_(endpoint)
garyservin 0:9e9b7db60fd5 100 {
garyservin 0:9e9b7db60fd5 101 topic_ = topic_name;
garyservin 0:9e9b7db60fd5 102 };
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 virtual void callback(unsigned char* data)
garyservin 0:9e9b7db60fd5 105 {
garyservin 0:9e9b7db60fd5 106 msg.deserialize(data);
garyservin 0:9e9b7db60fd5 107 this->cb_(msg);
garyservin 0:9e9b7db60fd5 108 }
garyservin 0:9e9b7db60fd5 109
garyservin 0:9e9b7db60fd5 110 virtual const char * getMsgType() { return this->msg.getType(); }
garyservin 0:9e9b7db60fd5 111 virtual const char * getMsgMD5() { return this->msg.getMD5(); }
garyservin 0:9e9b7db60fd5 112 virtual int getEndpointType() { return endpoint_; }
garyservin 0:9e9b7db60fd5 113
garyservin 0:9e9b7db60fd5 114 private:
garyservin 0:9e9b7db60fd5 115 CallbackT cb_;
garyservin 0:9e9b7db60fd5 116 int endpoint_;
garyservin 0:9e9b7db60fd5 117 };
garyservin 0:9e9b7db60fd5 118
garyservin 0:9e9b7db60fd5 119 }
garyservin 0:9e9b7db60fd5 120
garyservin 0:9e9b7db60fd5 121 #endif