subscriber.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSCPP_SUBSCRIBER_HANDLE_H
#define ROSCPP_SUBSCRIBER_HANDLE_H
 
#include "common.h"
#include "ros/forwards.h"
#include "ros/subscription_callback_helper.h"
 
namespace ros
{
 
class ROSCPP_DECL Subscriber
{
public:
  Subscriber() {}
  Subscriber(const Subscriber& rhs);
  ~Subscriber();
  Subscriber& operator=(const Subscriber& other) = default;
 
  void shutdown();
 
  std::string getTopic() const;
 
  uint32_t getNumPublishers() const;
 
  operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
 
  bool operator<(const Subscriber& rhs) const
  {
    return impl_ < rhs.impl_;
  }
 
  bool operator==(const Subscriber& rhs) const
  {
    return impl_ == rhs.impl_;
  }
 
  bool operator!=(const Subscriber& rhs) const
  {
    return impl_ != rhs.impl_;
  }
 
private:
 
  Subscriber(const std::string& topic, const NodeHandle& node_handle, 
             const SubscriptionCallbackHelperPtr& helper);
 
  class Impl
  {
  public:
    Impl();
    ~Impl();
 
    void unsubscribe();
    bool isValid() const;
 
    std::string topic_;
    NodeHandlePtr node_handle_;
    SubscriptionCallbackHelperPtr helper_;
    bool unsubscribed_;
  };
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
 
  ImplPtr impl_;
 
  friend class NodeHandle;
  friend class NodeHandleBackingCollection;
};
typedef std::vector<Subscriber> V_Subscriber;
 
}
 
#endif // ROSCPP_PUBLISHER_HANDLE_H