subscriber_plugin.h

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#ifndef IMAGE_TRANSPORT_SUBSCRIBER_PLUGIN_H
#define IMAGE_TRANSPORT_SUBSCRIBER_PLUGIN_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <boost/noncopyable.hpp>
#include "image_transport/transport_hints.h"

namespace image_transport {

class SubscriberPlugin : boost::noncopyable
{
public:
  typedef boost::function<void(const sensor_msgs::ImageConstPtr&)> Callback;
  
  virtual ~SubscriberPlugin() {}

  virtual std::string getTransportName() const = 0;

  void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                 const Callback& callback, const ros::VoidPtr& tracked_object = ros::VoidPtr(),
                 const TransportHints& transport_hints = TransportHints())
  {
    return subscribeImpl(nh, base_topic, queue_size, callback, tracked_object, transport_hints);
  }

  void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                 void(*fp)(const sensor_msgs::ImageConstPtr&),
                 const TransportHints& transport_hints = TransportHints())
  {
    return subscribe(nh, base_topic, queue_size,
                     boost::function<void(const sensor_msgs::ImageConstPtr&)>(fp),
                     ros::VoidPtr(), transport_hints);
  }

  template<class T>
  void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                 void(T::*fp)(const sensor_msgs::ImageConstPtr&), T* obj,
                 const TransportHints& transport_hints = TransportHints())
  {
    return subscribe(nh, base_topic, queue_size, boost::bind(fp, obj, _1), ros::VoidPtr(), transport_hints);
  }

  template<class T>
  void subscribe(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                 void(T::*fp)(const sensor_msgs::ImageConstPtr&),
                 const boost::shared_ptr<T>& obj,
                 const TransportHints& transport_hints = TransportHints())
  {
    return subscribe(nh, base_topic, queue_size, boost::bind(fp, obj.get(), _1), obj, transport_hints);
  }

  virtual std::string getTopic() const = 0;

  virtual uint32_t getNumPublishers() const = 0;

  virtual void shutdown() = 0;

  static std::string getLookupName(const std::string& transport_type)
  {
    return "image_transport/" + transport_type + "_sub";
  }

protected:
  virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                             const Callback& callback, const ros::VoidPtr& tracked_object,
                             const TransportHints& transport_hints) = 0;
};

} //namespace image_transport

#endif