nucho / Mbed 2 deprecated rosserial_mbed

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.

Dependencies:   rosserial_mbed_lib mbed Servo

ros/subscriber.h@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
1:098e75fd5ad2 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 1:098e75fd5ad2 1 /*
nucho 1:098e75fd5ad2 2 * Software License Agreement (BSD License)
nucho 1:098e75fd5ad2 3 *
nucho 1:098e75fd5ad2 4 * Copyright (c) 2011, Willow Garage, Inc.
nucho 1:098e75fd5ad2 5 * All rights reserved.
nucho 1:098e75fd5ad2 6 *
nucho 1:098e75fd5ad2 7 * Redistribution and use in source and binary forms, with or without
nucho 1:098e75fd5ad2 8 * modification, are permitted provided that the following conditions
nucho 1:098e75fd5ad2 9 * are met:
nucho 0:06fc856e99ca 10 *
nucho 1:098e75fd5ad2 11 * * Redistributions of source code must retain the above copyright
nucho 1:098e75fd5ad2 12 * notice, this list of conditions and the following disclaimer.
nucho 1:098e75fd5ad2 13 * * Redistributions in binary form must reproduce the above
nucho 1:098e75fd5ad2 14 * copyright notice, this list of conditions and the following
nucho 1:098e75fd5ad2 15 * disclaimer in the documentation and/or other materials provided
nucho 1:098e75fd5ad2 16 * with the distribution.
nucho 1:098e75fd5ad2 17 * * Neither the name of Willow Garage, Inc. nor the names of its
nucho 1:098e75fd5ad2 18 * contributors may be used to endorse or promote prducts derived
nucho 1:098e75fd5ad2 19 * from this software without specific prior written permission.
nucho 1:098e75fd5ad2 20 *
nucho 1:098e75fd5ad2 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nucho 1:098e75fd5ad2 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nucho 1:098e75fd5ad2 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
nucho 1:098e75fd5ad2 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
nucho 1:098e75fd5ad2 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
nucho 1:098e75fd5ad2 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
nucho 1:098e75fd5ad2 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
nucho 1:098e75fd5ad2 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucho 1:098e75fd5ad2 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
nucho 1:098e75fd5ad2 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
nucho 1:098e75fd5ad2 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
nucho 1:098e75fd5ad2 32 * POSSIBILITY OF SUCH DAMAGE.
nucho 0:06fc856e99ca 33 */
nucho 0:06fc856e99ca 34
nucho 1:098e75fd5ad2 35 #ifndef ROS_SUBSCRIBER_H_
nucho 1:098e75fd5ad2 36 #define ROS_SUBSCRIBER_H_
nucho 0:06fc856e99ca 37
nucho 3:dff241b66f84 38 #include "rosserial_msgs/TopicInfo.h"
nucho 1:098e75fd5ad2 39
nucho 1:098e75fd5ad2 40 namespace ros {
nucho 0:06fc856e99ca 41
nucho 3:dff241b66f84 42 /* Base class for objects subscribers. */
nucho 3:dff241b66f84 43 class Subscriber_
nucho 3:dff241b66f84 44 {
nucho 3:dff241b66f84 45 public:
nucho 3:dff241b66f84 46 virtual void callback(unsigned char *data)=0;
nucho 3:dff241b66f84 47 virtual int getEndpointType()=0;
nucho 3:dff241b66f84 48
nucho 3:dff241b66f84 49 // id_ is set by NodeHandle when we advertise
nucho 3:dff241b66f84 50 int16_t id_;
nucho 3:dff241b66f84 51
nucho 3:dff241b66f84 52 virtual const char * getMsgType()=0;
nucho 3:dff241b66f84 53 virtual const char * getMsgMD5()=0;
nucho 3:dff241b66f84 54 const char * topic_;
nucho 3:dff241b66f84 55 };
nucho 3:dff241b66f84 56
nucho 3:dff241b66f84 57
nucho 3:dff241b66f84 58 /* Actual subscriber, templated on message type. */
nucho 1:098e75fd5ad2 59 template<typename MsgT>
nucho 3:dff241b66f84 60 class Subscriber: public Subscriber_{
nucho 1:098e75fd5ad2 61 public:
nucho 0:06fc856e99ca 62 typedef void(*CallbackT)(const MsgT&);
nucho 1:098e75fd5ad2 63 MsgT msg;
nucho 0:06fc856e99ca 64
nucho 3:dff241b66f84 65 Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
nucho 3:dff241b66f84 66 cb_(cb),
nucho 3:dff241b66f84 67 endpoint_(endpoint)
nucho 3:dff241b66f84 68 {
nucho 1:098e75fd5ad2 69 topic_ = topic_name;
nucho 3:dff241b66f84 70 };
nucho 1:098e75fd5ad2 71
nucho 3:dff241b66f84 72 virtual void callback(unsigned char* data){
nucho 1:098e75fd5ad2 73 msg.deserialize(data);
nucho 1:098e75fd5ad2 74 this->cb_(msg);
nucho 0:06fc856e99ca 75 }
nucho 1:098e75fd5ad2 76
nucho 3:dff241b66f84 77 virtual const char * getMsgType(){ return this->msg.getType(); }
nucho 3:dff241b66f84 78 virtual const char * getMsgMD5(){ return this->msg.getMD5(); }
nucho 3:dff241b66f84 79 virtual int getEndpointType(){ return endpoint_; }
nucho 1:098e75fd5ad2 80
nucho 1:098e75fd5ad2 81 private:
nucho 1:098e75fd5ad2 82 CallbackT cb_;
nucho 3:dff241b66f84 83 int endpoint_;
nucho 1:098e75fd5ad2 84 };
nucho 0:06fc856e99ca 85
nucho 0:06fc856e99ca 86 }
nucho 1:098e75fd5ad2 87
nucho 1:098e75fd5ad2 88 #endif