subscriber.h

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#ifndef ROS_SUBSCRIBER_H_
#define ROS_SUBSCRIBER_H_
 
#include "rosserial_msgs/TopicInfo.h"
 
namespace ros
{
 
/* Base class for objects subscribers. */
class Subscriber_
{
public:
  virtual void callback(unsigned char *data) = 0;
  virtual int getEndpointType() = 0;
 
  // id_ is set by NodeHandle when we advertise
  int id_;
 
  virtual const char * getMsgType() = 0;
  virtual const char * getMsgMD5() = 0;
  const char * topic_;
};
 
/* Bound function subscriber. */
template<typename MsgT, typename ObjT = void>
class Subscriber: public Subscriber_
{
public:
  typedef void(ObjT::*CallbackT)(const MsgT&);
  MsgT msg;
 
  Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
    cb_(cb),
    obj_(obj),
    endpoint_(endpoint)
  {
    topic_ = topic_name;
  };
 
  virtual void callback(unsigned char* data) override
  {
    msg.deserialize(data);
    (obj_->*cb_)(msg);
  }
 
  virtual const char * getMsgType() override
  {
    return this->msg.getType();
  }
  virtual const char * getMsgMD5() override
  {
    return this->msg.getMD5();
  }
  virtual int getEndpointType() override
  {
    return endpoint_;
  }
 
private:
  CallbackT cb_;
  ObjT* obj_;
  int endpoint_;
};
 
/* Standalone function subscriber. */
template<typename MsgT>
class Subscriber<MsgT, void>: public Subscriber_
{
public:
  typedef void(*CallbackT)(const MsgT&);
  MsgT msg;
 
  Subscriber(const char * topic_name, CallbackT cb, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
    cb_(cb),
    endpoint_(endpoint)
  {
    topic_ = topic_name;
  };
 
  virtual void callback(unsigned char* data) override
  {
    msg.deserialize(data);
    this->cb_(msg);
  }
 
  virtual const char * getMsgType() override
  {
    return this->msg.getType();
  }
  virtual const char * getMsgMD5() override
  {
    return this->msg.getMD5();
  }
  virtual int getEndpointType() override
  {
    return endpoint_;
  }
 
private:
  CallbackT cb_;
  int endpoint_;
};
 
}
 
#endif