00001 /****************************************************************************** 00002 * Copyright (C) 2015 by Ralf Kaestner * 00003 * ralf.kaestner@gmail.com * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the Lesser GNU General Public License as published by* 00007 * the Free Software Foundation; either version 3 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * Lesser GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the Lesser GNU General Public License * 00016 * along with this program. If not, see <http://www.gnu.org/licenses/>. * 00017 ******************************************************************************/ 00018 00019 #ifndef RQT_MULTIPLOT_MESSAGE_SUBSCRIBER_REGISTRY_H 00020 #define RQT_MULTIPLOT_MESSAGE_SUBSCRIBER_REGISTRY_H 00021 00022 #include <QMap> 00023 #include <QString> 00024 00025 #include <rqt_multiplot/MessageBroker.h> 00026 #include <rqt_multiplot/MessageSubscriber.h> 00027 00028 namespace rqt_multiplot { 00029 class MessageSubscriberRegistry : 00030 public MessageBroker { 00031 Q_OBJECT 00032 public: 00033 MessageSubscriberRegistry(QObject* parent = 0, const ros::NodeHandle& 00034 nodeHandle = ros::NodeHandle("~")); 00035 virtual ~MessageSubscriberRegistry(); 00036 00037 const ros::NodeHandle& getNodeHandle() const; 00038 00039 bool subscribe(const QString& topic, QObject* receiver, 00040 const char* method, const PropertyMap& properties = PropertyMap(), 00041 Qt::ConnectionType type = Qt::AutoConnection); 00042 bool unsubscribe(const QString& topic, QObject* receiver, 00043 const char* method = 0); 00044 00045 private: 00046 ros::NodeHandle nodeHandle_; 00047 00048 QMap<QString, MessageSubscriber*> subscribers_; 00049 00050 private slots: 00051 void subscriberAboutToBeDestroyed(); 00052 }; 00053 }; 00054 00055 #endif