node_handle.h

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/*
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 * $Id: node_handle.h 43011 2010-08-12 20:30:23Z hsu $
 *
 */
#ifndef ROSMPI_NODE_HANDLE_H_
#define ROSMPI_NODE_HANDLE_H_

#include <ros/subscription_callback_helper.h>
#include "rosmpi/forwards.h"
#include "rosmpi/subscriber.h"

namespace rosmpi
{
  class NodeHandle
  {
    public:
      NodeHandle () {}
      
      ~NodeHandle () {}

      template <typename M> ros::SubscriptionCallbackHelperPtr init (const boost::function<void (const boost::shared_ptr<M const>&)>& _callback)
      {
        typedef typename ros::ParameterAdapter<M>::Message MessageType;
        ros::SubscriptionCallbackHelperPtr helper = ros::SubscriptionCallbackHelperPtr (new ros::SubscriptionCallbackHelperT<const boost::shared_ptr<MessageType const>&>(_callback));
        return (helper);
      }

      template <typename M, class T> Subscriber subscribe (void(T::*fp)(const boost::shared_ptr<M const>&), T* obj)
      {
        ros::SubscriptionCallbackHelperPtr helper = init<M> (boost::bind (fp, obj, _1));
        Subscriber s (helper);
        s.call<M> ();
        return (s);
      }

       template <typename M> Subscriber subscribe (void(*fp)(const boost::shared_ptr<M const>&))
      {
        ros::SubscriptionCallbackHelperPtr helper = init<M> (fp);
        Subscriber s (helper);
        s.call<M> ();
        return (s);
      }
  };
}

#endif  //#ifndef ROSMPI_NODE_HANDLE_H_