![](/media/cache/profiles/94aef38441efa3380a3bed3faf1f9d5d.50x50_q85.jpg)
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
Diff: ros/subscriber.h
- Revision:
- 4:2cbca0ac2569
- Parent:
- 3:dff241b66f84
--- a/ros/subscriber.h Sat Nov 12 23:53:04 2011 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,88 +0,0 @@ -/* - * 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: - * - * * 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 ROS_SUBSCRIBER_H_ -#define ROS_SUBSCRIBER_H_ - -#include "rosserial_msgs/TopicInfo.h" - -namespace ros { - - /* Base class for objects subscribers. */ - class Subscriber_ - { - public: - virtual void callback(unsigned char *data)=0; - virtual int getEndpointType()=0; - - // id_ is set by NodeHandle when we advertise - int16_t id_; - - virtual const char * getMsgType()=0; - virtual const char * getMsgMD5()=0; - const char * topic_; - }; - - - /* Actual subscriber, templated on message type. */ - template<typename MsgT> - class Subscriber: public Subscriber_{ - public: - typedef void(*CallbackT)(const MsgT&); - MsgT msg; - - Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) : - cb_(cb), - endpoint_(endpoint) - { - topic_ = topic_name; - }; - - virtual void callback(unsigned char* data){ - msg.deserialize(data); - this->cb_(msg); - } - - virtual const char * getMsgType(){ return this->msg.getType(); } - virtual const char * getMsgMD5(){ return this->msg.getMD5(); } - virtual int getEndpointType(){ return endpoint_; } - - private: - CallbackT cb_; - int endpoint_; - }; - -} - -#endif \ No newline at end of file