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,
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00027  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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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 
00043 /* Base class for objects subscribers. */
00044 class Subscriber_
00045 {
00046 public:
00047   virtual void callback(unsigned char *data) = 0;
00048   virtual int getEndpointType() = 0;
00049 
00050   // id_ is set by NodeHandle when we advertise
00051   int id_;
00052 
00053   virtual const char * getMsgType() = 0;
00054   virtual const char * getMsgMD5() = 0;
00055   const char * topic_;
00056 };
00057 
00058 /* Bound function subscriber. */
00059 template<typename MsgT, typename ObjT = void>
00060 class Subscriber: public Subscriber_
00061 {
00062 public:
00063   typedef void(ObjT::*CallbackT)(const MsgT&);
00064   MsgT msg;
00065 
00066   Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
00067     cb_(cb),
00068     obj_(obj),
00069     endpoint_(endpoint)
00070   {
00071     topic_ = topic_name;
00072   };
00073 
00074   virtual void callback(unsigned char* data)
00075   {
00076     msg.deserialize(data);
00077     (obj_->*cb_)(msg);
00078   }
00079 
00080   virtual const char * getMsgType()
00081   {
00082     return this->msg.getType();
00083   }
00084   virtual const char * getMsgMD5()
00085   {
00086     return this->msg.getMD5();
00087   }
00088   virtual int getEndpointType()
00089   {
00090     return endpoint_;
00091   }
00092 
00093 private:
00094   CallbackT cb_;
00095   ObjT* obj_;
00096   int endpoint_;
00097 };
00098 
00099 /* Standalone function subscriber. */
00100 template<typename MsgT>
00101 class Subscriber<MsgT, void>: public Subscriber_
00102 {
00103 public:
00104   typedef void(*CallbackT)(const MsgT&);
00105   MsgT msg;
00106 
00107   Subscriber(const char * topic_name, CallbackT cb, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
00108     cb_(cb),
00109     endpoint_(endpoint)
00110   {
00111     topic_ = topic_name;
00112   };
00113 
00114   virtual void callback(unsigned char* data)
00115   {
00116     msg.deserialize(data);
00117     this->cb_(msg);
00118   }
00119 
00120   virtual const char * getMsgType()
00121   {
00122     return this->msg.getType();
00123   }
00124   virtual const char * getMsgMD5()
00125   {
00126     return this->msg.getMD5();
00127   }
00128   virtual int getEndpointType()
00129   {
00130     return endpoint_;
00131   }
00132 
00133 private:
00134   CallbackT cb_;
00135   int endpoint_;
00136 };
00137 
00138 }
00139 
00140 #endif