subscriber.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef ROSMATLAB_SUBSCRIBER_H
00030 #define ROSMATLAB_SUBSCRIBER_H
00031 
00032 #include <rosmatlab/object.h>
00033 #include <ros/ros.h>
00034 #include <ros/callback_queue.h>
00035 
00036 #include <introspection/forwards.h>
00037 
00038 namespace rosmatlab {
00039 
00040 using cpp_introspection::VoidPtr;
00041 using cpp_introspection::VoidConstPtr;
00042 using cpp_introspection::MessagePtr;
00043 
00044 class Subscriber : public ros::Subscriber, public Object<Subscriber>
00045 {
00046 public:
00047   Subscriber();
00048   Subscriber(int nrhs, const mxArray *prhs[]);
00049   ~Subscriber();
00050 
00051   using ros::Subscriber::operator=;
00052   mxArray *subscribe(int nrhs, const mxArray *prhs[]);
00053   mxArray *poll(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]);
00054 
00055   mxArray *getTopic() const;
00056   mxArray *getDataType() const;
00057   mxArray *getMD5Sum() const;
00058 
00059   mxArray *getConnectionHeader() const;
00060   mxArray *getReceiptTime() const;
00061 
00062   mxArray *getNumPublishers() const;
00063 
00064 private:
00065   friend class SubscriptionCallbackHelper;
00066   typedef ros::MessageEvent<void> MessageEvent;
00067   typedef boost::shared_ptr<MessageEvent> MessageEventPtr;
00068   void callback(const MessageEvent& event);
00069   MessagePtr introspect(const VoidConstPtr& msg);
00070 
00071 private:
00072   ros::NodeHandle node_handle_;
00073   ros::SubscribeOptions options_;
00074   ros::CallbackQueue callback_queue_;
00075   ros::WallDuration timeout_;
00076 
00077   cpp_introspection::MessagePtr introspection_;
00078   MessageEventPtr new_event_;
00079   MessageEventPtr last_event_;
00080 };
00081 
00082 } // namespace rosmatlab
00083 
00084 #endif // ROSMATLAB_SUBSCRIBER_H


rosmatlab
Author(s): Johannes Meyer
autogenerated on Fri Jul 25 2014 06:08:36