subscriber.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_SUBSCRIBER_HANDLE_H 00029 #define ROSCPP_SUBSCRIBER_HANDLE_H 00030 00031 #include "common.h" 00032 #include "ros/forwards.h" 00033 #include "ros/subscription_callback_helper.h" 00034 00035 namespace ros 00036 { 00037 00046 class ROSCPP_DECL Subscriber 00047 { 00048 public: 00049 Subscriber() {} 00050 Subscriber(const Subscriber& rhs); 00051 ~Subscriber(); 00052 00062 void shutdown(); 00063 00064 std::string getTopic() const; 00065 00069 uint32_t getNumPublishers() const; 00070 00071 operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; } 00072 00073 bool operator<(const Subscriber& rhs) const 00074 { 00075 return impl_ < rhs.impl_; 00076 } 00077 00078 bool operator==(const Subscriber& rhs) const 00079 { 00080 return impl_ == rhs.impl_; 00081 } 00082 00083 bool operator!=(const Subscriber& rhs) const 00084 { 00085 return impl_ != rhs.impl_; 00086 } 00087 00088 private: 00089 00090 Subscriber(const std::string& topic, const NodeHandle& node_handle, 00091 const SubscriptionCallbackHelperPtr& helper); 00092 00093 class Impl 00094 { 00095 public: 00096 Impl(); 00097 ~Impl(); 00098 00099 void unsubscribe(); 00100 bool isValid() const; 00101 00102 std::string topic_; 00103 NodeHandlePtr node_handle_; 00104 SubscriptionCallbackHelperPtr helper_; 00105 bool unsubscribed_; 00106 }; 00107 typedef boost::shared_ptr<Impl> ImplPtr; 00108 typedef boost::weak_ptr<Impl> ImplWPtr; 00109 00110 ImplPtr impl_; 00111 00112 friend class NodeHandle; 00113 friend class NodeHandleBackingCollection; 00114 }; 00115 typedef std::vector<Subscriber> V_Subscriber; 00116 00117 } 00118 00119 #endif // ROSCPP_PUBLISHER_HANDLE_H 00120 00121