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@1:098e75fd5ad2, 2011-10-16 (annotated)
- Committer:
- nucho
- Date:
- Sun Oct 16 07:17:43 2011 +0000
- Revision:
- 1:098e75fd5ad2
- Parent:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
This program supported the revision of 143 of rosserial.
And the bug fix of receive of array data.
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:06fc856e99ca | 38 | #include "rosserial_ids.h" |
nucho | 0:06fc856e99ca | 39 | #include "msg_receiver.h" |
nucho | 1:098e75fd5ad2 | 40 | |
nucho | 1:098e75fd5ad2 | 41 | namespace ros { |
nucho | 0:06fc856e99ca | 42 | |
nucho | 1:098e75fd5ad2 | 43 | /* ROS Subscriber |
nucho | 1:098e75fd5ad2 | 44 | * This class handles holding the msg so that |
nucho | 1:098e75fd5ad2 | 45 | * it is not continously reallocated. It is also used by the |
nucho | 1:098e75fd5ad2 | 46 | * node handle to keep track of callback functions and IDs. |
nucho | 1:098e75fd5ad2 | 47 | */ |
nucho | 1:098e75fd5ad2 | 48 | template<typename MsgT> |
nucho | 1:098e75fd5ad2 | 49 | class Subscriber: public MsgReceiver{ |
nucho | 1:098e75fd5ad2 | 50 | public: |
nucho | 0:06fc856e99ca | 51 | typedef void(*CallbackT)(const MsgT&); |
nucho | 1:098e75fd5ad2 | 52 | MsgT msg; |
nucho | 0:06fc856e99ca | 53 | |
nucho | 0:06fc856e99ca | 54 | Subscriber(const char * topic_name, CallbackT msgCB){ |
nucho | 1:098e75fd5ad2 | 55 | topic_ = topic_name; |
nucho | 1:098e75fd5ad2 | 56 | cb_= msgCB; |
nucho | 1:098e75fd5ad2 | 57 | } |
nucho | 1:098e75fd5ad2 | 58 | |
nucho | 1:098e75fd5ad2 | 59 | virtual void receive(unsigned char* data){ |
nucho | 1:098e75fd5ad2 | 60 | msg.deserialize(data); |
nucho | 1:098e75fd5ad2 | 61 | this->cb_(msg); |
nucho | 0:06fc856e99ca | 62 | } |
nucho | 1:098e75fd5ad2 | 63 | |
nucho | 1:098e75fd5ad2 | 64 | virtual const char * getMsgType(){return this->msg.getType();} |
nucho | 1:098e75fd5ad2 | 65 | virtual int _getType(){return TOPIC_SUBSCRIBERS;} |
nucho | 1:098e75fd5ad2 | 66 | |
nucho | 1:098e75fd5ad2 | 67 | private: |
nucho | 1:098e75fd5ad2 | 68 | CallbackT cb_; |
nucho | 1:098e75fd5ad2 | 69 | }; |
nucho | 0:06fc856e99ca | 70 | |
nucho | 0:06fc856e99ca | 71 | } |
nucho | 1:098e75fd5ad2 | 72 | |
nucho | 1:098e75fd5ad2 | 73 | #endif |