topic.h

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#ifndef ROSCPP_TOPIC_H
#define ROSCPP_TOPIC_H

#include "common.h"
#include "node_handle.h"
#include <boost/shared_ptr.hpp>

namespace ros
{
namespace topic
{

ROSCPP_DECL void waitForMessageImpl(SubscribeOptions& ops, const boost::function<bool(void)>& ready_pred, NodeHandle& nh, ros::Duration timeout);

template<class M>
class SubscribeHelper
{
public:
  typedef boost::shared_ptr<M const> MConstPtr;
  void callback(const MConstPtr& message)
  {
    message_ = message;
  }

  bool hasMessage()
  {
    return static_cast<bool>(message_);
  }

  MConstPtr getMessage()
  {
    return message_;
  }

private:
  MConstPtr message_;
};

template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic, NodeHandle& nh, ros::Duration timeout)
{
  SubscribeHelper<M> helper;
  SubscribeOptions ops;
  ops.template init<M>(topic, 1, boost::bind(&SubscribeHelper<M>::callback, &helper, _1));

  waitForMessageImpl(ops, boost::bind(&SubscribeHelper<M>::hasMessage, &helper), nh, timeout);

  return helper.getMessage();
}

template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic)
{
  ros::NodeHandle nh;
  return waitForMessage<M>(topic, nh, ros::Duration());
}

template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::Duration timeout)
{
  ros::NodeHandle nh;
  return waitForMessage<M>(topic, nh, timeout);
}

template<class M>
boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::NodeHandle& nh)
{
  return waitForMessage<M>(topic, nh, ros::Duration());
}

} // namespace topic
} // namespace ros

#endif // ROSCPP_TOPIC_H