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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, 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 the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products 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 MESSAGE_FILTERS_SIMPLE_FILTER_H 00036 #define MESSAGE_FILTERS_SIMPLE_FILTER_H 00037 00038 #include <boost/noncopyable.hpp> 00039 00040 #include "connection.h" 00041 #include "signal1.h" 00042 #include <ros/message_event.h> 00043 #include <ros/subscription_callback_helper.h> 00044 00045 #include <boost/bind.hpp> 00046 00047 #include <string> 00048 00049 namespace message_filters 00050 { 00051 00059 template<class M> 00060 class SimpleFilter : public boost::noncopyable 00061 { 00062 public: 00063 typedef boost::shared_ptr<M const> MConstPtr; 00064 typedef boost::function<void(const MConstPtr&)> Callback; 00065 typedef ros::MessageEvent<M const> EventType; 00066 typedef boost::function<void(const EventType&)> EventCallback; 00067 00072 template<typename C> 00073 Connection registerCallback(const C& callback) 00074 { 00075 typename CallbackHelper1<M>::Ptr helper = signal_.addCallback(Callback(callback)); 00076 return Connection(boost::bind(&Signal::removeCallback, &signal_, helper)); 00077 } 00078 00083 template<typename P> 00084 Connection registerCallback(const boost::function<void(P)>& callback) 00085 { 00086 return Connection(boost::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback))); 00087 } 00088 00093 template<typename P> 00094 Connection registerCallback(void(*callback)(P)) 00095 { 00096 return Connection(boost::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback))); 00097 } 00098 00103 template<typename T, typename P> 00104 Connection registerCallback(void(T::*callback)(P), T* t) 00105 { 00106 typename CallbackHelper1<M>::Ptr helper = signal_.template addCallback<P>(boost::bind(callback, t, _1)); 00107 return Connection(boost::bind(&Signal::removeCallback, &signal_, helper)); 00108 } 00109 00113 void setName(const std::string& name) { name_ = name; } 00117 const std::string& getName() { return name_; } 00118 00119 protected: 00123 void signalMessage(const MConstPtr& msg) 00124 { 00125 ros::MessageEvent<M const> event(msg); 00126 00127 signal_.call(event); 00128 } 00129 00133 void signalMessage(const ros::MessageEvent<M const>& event) 00134 { 00135 signal_.call(event); 00136 } 00137 00138 private: 00139 typedef Signal1<M> Signal; 00140 00141 Signal signal_; 00142 00143 std::string name_; 00144 }; 00145 00146 } 00147 00148 #endif 00149