simple_subscriber_plugin.h

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#ifndef MESSAGE_TRANSPORT_SIMPLE_SUBSCRIBER_PLUGIN_H
#define MESSAGE_TRANSPORT_SIMPLE_SUBSCRIBER_PLUGIN_H

#include "message_transport/subscriber_plugin.h"
#include <boost/scoped_ptr.hpp>

namespace message_transport {

        template <class Base, class M>
                 class SimpleSubscriberPlugin : public SubscriberPlugin<Base>
        {
                public:
                        virtual ~SimpleSubscriberPlugin() {}

                        virtual std::string getTopic() const
                        {
                                if (simple_impl_) return simple_impl_->sub_.getTopic();
                                return std::string();
                        }

                        virtual uint32_t getNumPublishers() const
                        {
                                if (simple_impl_) return simple_impl_->sub_.getNumPublishers();
                                return 0;
                        }

                        virtual void shutdown()
                        {
                                if (simple_impl_) simple_impl_->sub_.shutdown();
                        }

                protected:
                        virtual void internalCallback(const typename M::ConstPtr& message, 
                                        const typename SubscriberPlugin<Base>::Callback& user_cb) = 0;

                        virtual std::string getTopicToSubscribe(const std::string& base_topic) const
                        {
                                return base_topic + "/" + this->getTransportName();
                        }

                        virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                                        const typename SubscriberPlugin<Base>::Callback& callback, const ros::VoidPtr& tracked_object,
                                        const TransportHints& transport_hints)
                        {
                                simple_impl_.reset(new SimpleSubscriberPluginImpl(nh, getTopicToSubscribe(base_topic)));

                                simple_impl_->sub_ = nh.subscribe<M>(getTopicToSubscribe(base_topic), queue_size,
                                                boost::bind(&SimpleSubscriberPlugin::internalCallback, this, _1, callback),
                                                tracked_object, transport_hints.getRosHints());
                        }

                        ros::NodeHandle& nh() 
                        {
                                return simple_impl_->param_nh_;
                        }

                private:
                        struct SimpleSubscriberPluginImpl
                        {
                                SimpleSubscriberPluginImpl(ros::NodeHandle & nh, const std::string& new_topic)
                                        : param_nh_(nh,new_topic)
                                {
                                }

                                ros::NodeHandle param_nh_;
                                ros::Subscriber sub_;
                        };

                        boost::scoped_ptr<SimpleSubscriberPluginImpl> simple_impl_;
        };

} //namespace message_transport

#endif