subscriber.h
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00001 /* 
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00034 
00035 #ifndef ROS_SUBSCRIBER_H_
00036 #define ROS_SUBSCRIBER_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 
00040 namespace ros {
00041 
00042   /* Base class for objects subscribers. */
00043   class Subscriber_
00044   {
00045     public:
00046       virtual void callback(unsigned char *data)=0;
00047       virtual int getEndpointType()=0;
00048 
00049       // id_ is set by NodeHandle when we advertise 
00050       int id_;
00051 
00052       virtual const char * getMsgType()=0;
00053       virtual const char * getMsgMD5()=0;
00054       const char * topic_;
00055   };
00056 
00057 
00058   /* Actual subscriber, templated on message type. */
00059   template<typename MsgT>
00060   class Subscriber: public Subscriber_{
00061     public:
00062       typedef void(*CallbackT)(const MsgT&);
00063       MsgT msg;
00064 
00065       Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
00066         cb_(cb),
00067         endpoint_(endpoint)
00068       {
00069         topic_ = topic_name;
00070       };
00071 
00072       virtual void callback(unsigned char* data){
00073         msg.deserialize(data);
00074         this->cb_(msg);
00075       }
00076 
00077       virtual const char * getMsgType(){ return this->msg.getType(); }
00078       virtual const char * getMsgMD5(){ return this->msg.getMD5(); }
00079       virtual int getEndpointType(){ return endpoint_; }
00080 
00081     private:
00082       CallbackT cb_;
00083       int endpoint_;
00084   };
00085 
00086 }
00087 
00088 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:56