CsSubscriber.h

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#ifndef CSSUBSCRIBER
#define CSSUBSCRIBER 1
#include "Runable.h"
#include "ros/ros.h"
#include <ros/callback_queue.h>
#include <ros/transport_hints.h>
namespace RosCs {
        template<class M>
        class CsSubscriber : Runable {
                public:
                        
                        CsSubscriber(void (*cshandle)(char*),char* (*translator)(const boost::shared_ptr<M const > &)) {
                                this->cscallback=cshandle;
                                this->translator=translator;
                                this->running = true;
                        }
                        void HandleMessage(const boost::shared_ptr<M const >& message) {
                                char* p = translator(message);
                                cscallback(p);
                                delete[] p;
                        }
                        void Subscribe(ros::NodeHandle* orignh, char* topic, uint32_t queueSize) {
                                nh = ros::NodeHandle(*orignh);
                                nh.setCallbackQueue(&queue);                            
                                sub = nh.subscribe<M,CsSubscriber<M> >(topic, queueSize,&CsSubscriber<M>::HandleMessage,this,ros::TransportHints().unreliable().reliable().tcpNoDelay());

                        }
                        void Listen() {
                                while(nh.ok() && this->running) {
                                        queue.callAvailable(ros::WallDuration(1));
                                }
                                sub.shutdown();
                                nh.setCallbackQueue(NULL);                              
                        }
                        /*void Shutdown() {
                                running = false;                                
                        }*/
                        void SubscribeAndListen(ros::NodeHandle* orignh, char* topic, uint32_t queueSize) {
                                Subscribe(orignh,topic,queueSize);
                                Listen();
                        }
                        /*void SubscribeAndListen(ros::NodeHandle* orignh, char* topic, uint32_t queueSize) {
                                nh = ros::NodeHandle(*orignh);
                                //ros::CallbackQueue queue;
                                nh.setCallbackQueue(&queue);                            
                                //sub = nh.subscribe<M,CsSubscriber<M> >(topic, queueSize,&CsSubscriber<M>::HandleMessage,this);
                                sub = nh.subscribe<M,CsSubscriber<M> >(topic, queueSize,&CsSubscriber<M>::HandleMessage,this,ros::TransportHints().udp());
                                //,ros::TransportHints().unreliable());
                                
                                
                                while(this->running) {
                                        queue.callAvailable(ros::WallDuration(1));//6000));
                                }
                                //queue.callAvailable(ros::WallDuration(30));//6000));
                                
                                
                        }*/
                        ~CsSubscriber() {
                                //std::cout << "destructor"<<std::endl;
                                running = false;                                
                                sub.shutdown(); 
                                nh.shutdown();                  
                                
                        }
                        
                protected:
                        void (*cscallback)(char*);
                        char* (*translator)(const boost::shared_ptr<M const > &);
                        ros::Subscriber sub;
                        //bool running;
                        ros::NodeHandle nh;
                        ros::CallbackQueue queue;
                
                                        
        };
        
        
};
#endif