subscriber.h

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/****************************************************************************
 *
 * fkie_message_filters
 * Copyright © 2018-2020 Fraunhofer FKIE
 * Author: Timo Röhling
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 ****************************************************************************/
#ifndef INCLUDE_FKIE_MESSAGE_FILTERS_SUBSCRIBER_H_
#define INCLUDE_FKIE_MESSAGE_FILTERS_SUBSCRIBER_H_
 
#include "source.h"
#include "message_translate.h"
#include "subscriber_base.h"
#include <ros/node_handle.h>
#include <ros/subscriber.h>
#include <ros/subscribe_options.h>
#include <ros/transport_hints.h>
#include <memory>
 
namespace fkie_message_filters
{
 
template<class M, template<typename> class Translate = RosMessageEvent>
class Subscriber : public SubscriberBase, public Source<typename Translate<M>::FilterType>
{
public:
    Subscriber() noexcept;
    Subscriber(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = nullptr) noexcept;
    void set_subscribe_options (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = nullptr) noexcept;
    void subscribe (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = nullptr) noexcept;
    using SubscriberBase::subscribe;
    using SubscriberBase::unsubscribe;
    using SubscriberBase::subscribe_on_demand;
    virtual std::string topic() const noexcept override;
protected:
    virtual bool is_configured() const noexcept override;
    virtual void subscribe_impl() noexcept override;
    virtual void unsubscribe_impl() noexcept override;
private:
    using EventType = typename Translate<M>::EventType;
    using FilterType = typename Translate<M>::FilterType;
    void cb(const EventType& event);
    ros::Subscriber sub_;
    ros::SubscribeOptions opts_;
    std::shared_ptr<ros::NodeHandle> nh_;
};
 
} // namespace fkie_message_filters
 
#include "subscriber_impl.h"
 
#endif /* INCLUDE_FKIE_MESSAGE_FILTERS_SUBSCRIBER_H_ */