subscriber.h

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#ifndef ROS_SUBSCRIBER_H_
#define ROS_SUBSCRIBER_H_

#include "rosserial_msgs/TopicInfo.h"

namespace ros {

  /* Base class for objects subscribers. */
  class Subscriber_
  {
    public:
      virtual void callback(unsigned char *data)=0;
      virtual int getEndpointType()=0;

      // id_ is set by NodeHandle when we advertise
      int id_;

      virtual const char * getMsgType()=0;
      virtual const char * getMsgMD5()=0;
      const char * topic_;
  };

  /* Bound function subscriber. */
  template<typename MsgT, typename ObjT=void>
  class Subscriber: public Subscriber_
  {
    public:
      typedef void(ObjT::*CallbackT)(const MsgT&);
      MsgT msg;

      Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
        cb_(cb),
        obj_(obj),
        endpoint_(endpoint)
      {
        topic_ = topic_name;
      };

      virtual void callback(unsigned char* data)
      {
        msg.deserialize(data);
        (obj_->*cb_)(msg);
      }

      virtual const char * getMsgType() { return this->msg.getType(); }
      virtual const char * getMsgMD5() { return this->msg.getMD5(); }
      virtual int getEndpointType() { return endpoint_; }

    private:
      CallbackT cb_;
      ObjT* obj_;
      int endpoint_;
  };

  /* Standalone function subscriber. */
  template<typename MsgT>
  class Subscriber<MsgT, void>: public Subscriber_
  {
    public:
      typedef void(*CallbackT)(const MsgT&);
      MsgT msg;

      Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
        cb_(cb),
        endpoint_(endpoint)
      {
        topic_ = topic_name;
      };

      virtual void callback(unsigned char* data)
      {
        msg.deserialize(data);
        this->cb_(msg);
      }

      virtual const char * getMsgType() { return this->msg.getType(); }
      virtual const char * getMsgMD5() { return this->msg.getMD5(); }
      virtual int getEndpointType() { return endpoint_; }

    private:
      CallbackT cb_;
      int endpoint_;
  };

}

#endif