SubscribeR.h
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00001 #include <ros/ros.h>
00002 #include <ros/package.h>
00003 #include <std_msgs/String.h>
00004 #include <topic_tools/shape_shifter.h>
00005 
00006 #ifndef SUBSCRIBER_H
00007 #define SUBSCRIBER_H
00008 
00009 #include "rosR.h"
00010 
00011 struct IStreamR : public StreamR
00012 {
00013         IStreamR(uint8_t* data, uint32_t count) : StreamR(data, count)
00014         {}
00015 
00016         template<typename T>
00017         inline void next(T& t) {
00018                 ros::serialization::deserialize(*this, t);
00019         }
00020 
00021         template<typename T>
00022         inline IStreamR& operator>>(T& t) {
00023                 ros::serialization::deserialize(*this, t);
00024                 return *this;
00025         }
00026 };
00027 
00028 class SubscribeR {
00029 public:
00030         SubscribeR(NodeR* handle, const char* cTopic, const char* cMsgType, const char* cMsgDefinition, const char* cMsgMD5){
00031                 m_bNewMessage = false;
00032                 m_bAnyMessage = false;
00033                 m_rosSubscriber = (handle->getHandle())->subscribe(cTopic, 1, &SubscribeR::callback, this);
00034 
00035                 m_strMsgType            = cMsgType;
00036                 m_strMsgDefinition      = cMsgDefinition;
00037                 m_strMsgMD5                     = cMsgMD5;
00038 
00039                 m_iBufferSize = 10000000;
00040 
00041                 m_ui8Buffer = new boost::shared_array<uint8_t> (new uint8_t[m_iBufferSize]);
00042                 m_isStream  = new IStreamR(m_ui8Buffer->get(), m_iBufferSize);
00043         };
00044         ~SubscribeR() {
00045                 delete m_isStream;
00046                 delete m_ui8Buffer;
00047         };
00048 
00049         void callback(const ros::MessageEvent<topic_tools::ShapeShifter const>& event) {
00050                 m_bNewMessage = true;
00051                 m_bAnyMessage = true;
00052 
00053                 m_Event = event;
00054 
00055                 // uninitialzed
00056                 if(m_strMsgType.size() == 0){
00057                         m_strMsgType = m_Event.getMessage()->getDataType();
00058                         m_strMsgMD5  = m_Event.getMessage()->getMD5Sum();
00059                         m_strMsgDefinition = m_Event.getMessage()->getMessageDefinition();
00060                 }
00061         };
00062 
00063         bool hasAnyMessage() { return m_bAnyMessage; };
00064         bool hasNewMessage() { return m_bNewMessage; };
00065 
00066         const char* getPublisher() {
00067                 return m_Event.getPublisherName().c_str();      };
00068         const char* getMessageType() {
00069                 return m_strMsgType.c_str();    };
00070         const char* getMessageDefinition() {
00071                 return m_strMsgDefinition.c_str(); };
00072         const char* getMessageMD5() {
00073                 return m_strMsgMD5.c_str(); };
00074 
00075         IStreamR * getMessageStream(){
00076                 m_bNewMessage = false;
00077 
00078                 if(m_isStream->getLength() != m_iBufferSize){
00079                         m_isStream->advance(-(m_iBufferSize-m_isStream->getLength()));
00080                 }
00081 
00082                 m_Event.getMessage()->write(*m_isStream);
00083                 m_isStream->advance(-m_Event.getMessage()->size());
00084 
00085                 return m_isStream;
00086         };
00087 
00088 private:
00089         bool m_bNewMessage;
00090         bool m_bAnyMessage;
00091 
00092         ros::Subscriber m_rosSubscriber;
00093         std::string m_strMsgType;
00094         std::string m_strMsgDefinition;
00095         std::string m_strMsgMD5;
00096 
00097         ros::MessageEvent<topic_tools::ShapeShifter const> m_Event;
00098 
00099         boost::shared_array<uint8_t> *m_ui8Buffer;
00100         int m_iBufferSize;
00101         IStreamR *m_isStream;
00102 };
00103 
00104 SubscribeR* rrosSubscriber(     NodeR* handle,
00105                                 const char* topic,
00106                                 const char* type,
00107                                 const char* msg_def,
00108                                 const char* msg_md5);
00109 
00110 bool rrosSubscriberHasNewMsg(SubscribeR* subscriber);
00111 bool rrosSubscriberHasAnyMsg(SubscribeR* subscriber);
00112 
00113 IStreamR* rrosSubscriberGetMessageStream(SubscribeR* subscriber);
00114 
00115 const char* rrosSubscriberGetPublisher(SubscribeR* subscriber);
00116 const char* rrosSubscriberGetMessageType(SubscribeR* subscriber);
00117 const char* rrosSubscriberGetMessageMD5(SubscribeR* subscriber);
00118 const char* rrosSubscriberGetMessageDefinition(SubscribeR* subscriber);
00119 
00120 bool            rros_stream_read_bool           (IStreamR *s);
00121 signed char     rros_stream_read_int8           (IStreamR *s);
00122 unsigned char   rros_stream_read_uint8          (IStreamR *s);
00123 signed short    rros_stream_read_int16          (IStreamR *s);
00124 unsigned short  rros_stream_read_uint16         (IStreamR *s);
00125 signed int      rros_stream_read_int32          (IStreamR *s);
00126 unsigned int    rros_stream_read_uint32         (IStreamR *s);
00127 signed long     rros_stream_read_int64          (IStreamR *s);
00128 unsigned long   rros_stream_read_uint64         (IStreamR *s);
00129 float           rros_stream_read_float32        (IStreamR *s);
00130 double          rros_stream_read_float64        (IStreamR *s);
00131 char*           rros_stream_read_string         (IStreamR *s);
00132 
00133 std::vector<signed char>*       rros_stream_read_int8_array     (IStreamR *s, unsigned int size=0);
00134 std::vector<unsigned char>*     rros_stream_read_uint8_array    (IStreamR *s, unsigned int size=0);
00135 std::vector<signed short>*      rros_stream_read_int16_array    (IStreamR *s, unsigned int size=0);
00136 std::vector<unsigned short>*    rros_stream_read_uint16_array   (IStreamR *s, unsigned int size=0);
00137 std::vector<signed int>*        rros_stream_read_int32_array    (IStreamR *s, unsigned int size=0);
00138 std::vector<unsigned int>*      rros_stream_read_uint32_array   (IStreamR *s, unsigned int size=0);
00139 std::vector<signed long>*       rros_stream_read_int64_array    (IStreamR *s, unsigned int size=0);
00140 std::vector<unsigned long>*     rros_stream_read_uint64_array   (IStreamR *s, unsigned int size=0);
00141 std::vector<float>*             rros_stream_read_float32_array  (IStreamR *s, unsigned int size=0);
00142 std::vector<double>*            rros_stream_read_float64_array  (IStreamR *s, unsigned int size=0);
00143 std::vector<std::string>*       rros_stream_read_string_array   (IStreamR *s, unsigned int size=0);
00144 
00145 #endif


rosR
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autogenerated on Sat Jun 8 2019 18:25:26