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 #include "ros/subscriber.h" 00029 #include "ros/node_handle.h" 00030 #include "ros/topic_manager.h" 00031 00032 namespace ros 00033 { 00034 00035 Subscriber::Impl::Impl() 00036 : unsubscribed_(false) 00037 { } 00038 00039 Subscriber::Impl::~Impl() 00040 { 00041 ROS_DEBUG("Subscriber on '%s' deregistering callbacks.", topic_.c_str()); 00042 unsubscribe(); 00043 } 00044 00045 bool Subscriber::Impl::isValid() const 00046 { 00047 return !unsubscribed_; 00048 } 00049 00050 void Subscriber::Impl::unsubscribe() 00051 { 00052 if (!unsubscribed_) 00053 { 00054 unsubscribed_ = true; 00055 TopicManager::instance()->unsubscribe(topic_, helper_); 00056 node_handle_.reset(); 00057 helper_.reset(); 00058 } 00059 } 00060 00061 Subscriber::Subscriber(const std::string& topic, const NodeHandle& node_handle, 00062 const SubscriptionCallbackHelperPtr& helper) 00063 : impl_(new Impl) 00064 { 00065 impl_->topic_ = topic; 00066 impl_->node_handle_ = NodeHandlePtr(new NodeHandle(node_handle)); 00067 impl_->helper_ = helper; 00068 } 00069 00070 Subscriber::Subscriber(const Subscriber& rhs) 00071 { 00072 impl_ = rhs.impl_; 00073 } 00074 00075 Subscriber::~Subscriber() 00076 { 00077 } 00078 00079 void Subscriber::shutdown() 00080 { 00081 if (impl_) 00082 { 00083 impl_->unsubscribe(); 00084 } 00085 } 00086 00087 std::string Subscriber::getTopic() const 00088 { 00089 if (impl_) 00090 { 00091 return impl_->topic_; 00092 } 00093 00094 return std::string(); 00095 } 00096 00097 uint32_t Subscriber::getNumPublishers() const 00098 { 00099 if (impl_ && impl_->isValid()) 00100 { 00101 return TopicManager::instance()->getNumPublishers(impl_->topic_); 00102 } 00103 00104 return 0; 00105 } 00106 00107 } // namespace ros