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subscriber.h
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROS_SUBSCRIBER_H_ 00036 #define ROS_SUBSCRIBER_H_ 00037 00038 #include "rosserial_msgs/TopicInfo.h" 00039 00040 namespace ros { 00041 00042 /* Base class for objects subscribers. */ 00043 class Subscriber_ 00044 { 00045 public: 00046 virtual void callback(unsigned char *data)=0; 00047 virtual int getEndpointType()=0; 00048 00049 // id_ is set by NodeHandle when we advertise 00050 int id_; 00051 00052 virtual const char * getMsgType()=0; 00053 virtual const char * getMsgMD5()=0; 00054 const char * topic_; 00055 }; 00056 00057 /* Bound function subscriber. */ 00058 template<typename MsgT, typename ObjT=void> 00059 class Subscriber: public Subscriber_ 00060 { 00061 public: 00062 typedef void(ObjT::*CallbackT)(const MsgT&); 00063 MsgT msg; 00064 00065 Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) : 00066 cb_(cb), 00067 obj_(obj), 00068 endpoint_(endpoint) 00069 { 00070 topic_ = topic_name; 00071 }; 00072 00073 virtual void callback(unsigned char* data) 00074 { 00075 msg.deserialize(data); 00076 (obj_->*cb_)(msg); 00077 } 00078 00079 virtual const char * getMsgType() { return this->msg.getType(); } 00080 virtual const char * getMsgMD5() { return this->msg.getMD5(); } 00081 virtual int getEndpointType() { return endpoint_; } 00082 00083 private: 00084 CallbackT cb_; 00085 ObjT* obj_; 00086 int endpoint_; 00087 }; 00088 00089 /* Standalone function subscriber. */ 00090 template<typename MsgT> 00091 class Subscriber<MsgT, void>: public Subscriber_ 00092 { 00093 public: 00094 typedef void(*CallbackT)(const MsgT&); 00095 MsgT msg; 00096 00097 Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) : 00098 cb_(cb), 00099 endpoint_(endpoint) 00100 { 00101 topic_ = topic_name; 00102 }; 00103 00104 virtual void callback(unsigned char* data) 00105 { 00106 msg.deserialize(data); 00107 this->cb_(msg); 00108 } 00109 00110 virtual const char * getMsgType() { return this->msg.getType(); } 00111 virtual const char * getMsgMD5() { return this->msg.getMD5(); } 00112 virtual int getEndpointType() { return endpoint_; } 00113 00114 private: 00115 CallbackT cb_; 00116 int endpoint_; 00117 }; 00118 00119 } 00120 00121 #endif
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