00001 /****************************************************************************** 00002 * Copyright (C) 2014 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 00023 #ifndef VARIANT_TOPIC_TOOLS_SUBSCRIBER_H 00024 #define VARIANT_TOPIC_TOOLS_SUBSCRIBER_H 00025 00026 #include <ros/ros.h> 00027 00028 #include <variant_topic_tools/Forwards.h> 00029 #include <variant_topic_tools/MessageSerializer.h> 00030 #include <variant_topic_tools/MessageType.h> 00031 #include <variant_topic_tools/MessageVariant.h> 00032 00033 namespace variant_topic_tools { 00036 class Subscriber { 00037 friend class MessageType; 00038 public: 00041 Subscriber(); 00042 00045 Subscriber(const Subscriber& src); 00046 00049 ~Subscriber(); 00050 00053 std::string getTopic() const; 00054 00057 size_t getNumPublishers() const; 00058 00061 void shutdown(); 00062 00065 inline operator void*() const { 00066 return (impl && impl->isValid()) ? (void*)1 : (void*)0; 00067 }; 00068 00072 operator ros::Subscriber() const; 00073 00074 private: 00077 class Impl { 00078 public: 00081 Impl(ros::NodeHandle& nodeHandle, const MessageType& type, const 00082 std::string& topic, size_t queueSize, const SubscriberCallback& 00083 callback); 00084 00087 ~Impl(); 00088 00091 bool isValid() const; 00092 00095 void shutdown(); 00096 00099 void eventCallback(const ros::MessageEvent<Message const>& event); 00100 00103 MessageType type; 00104 00107 MessageDataType dataType; 00108 00111 MessageSerializer serializer; 00112 00115 SubscriberCallback callback; 00116 00119 ros::Subscriber subscriber; 00120 }; 00121 00124 typedef boost::shared_ptr<Impl> ImplPtr; 00125 00129 typedef boost::weak_ptr<Impl> ImplWPtr; 00130 00133 ImplPtr impl; 00134 }; 00135 }; 00136 00137 #endif