subscriber.cpp

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#include <rosrt/subscriber.h>
#include <rosrt/detail/subscriber_manager.h>
#include <rosrt/detail/managers.h>

#include <boost/bind.hpp>

#include <ros/debug.h>

namespace rosrt
{
namespace detail
{

SubscriberManager::SubscriberManager()
: spinner_(1, &callback_queue_)
{
  spinner_.start();
}

SubscriberManager::~SubscriberManager()
{
  spinner_.stop();
  callback_queue_.disable();
  callback_queue_.clear();
}

ros::CallbackQueueInterface* getSubscriberCallbackQueue()
{
  return getSubscriberManager()->getCallbackQueue();
}

} // namespace detail
} // namespace rosrt