00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include "message_transport/subscriber.h" 00036 #include "message_transport/subscriber_plugin.h" 00037 #include <ros/names.h> 00038 #include <pluginlib/class_loader.h> 00039 #include <boost/scoped_ptr.hpp> 00040 00041 namespace message_transport { 00042 00043 Subscriber::Subscriber(ros::NodeHandle& nh) 00044 : impl_() 00045 { 00046 00047 } 00048 00049 std::string Subscriber::getTopic() const 00050 { 00051 if (impl_) return impl_->getSubscriber()->getTopic(); 00052 return std::string(); 00053 } 00054 00055 uint32_t Subscriber::getNumPublishers() const 00056 { 00057 if (impl_) return impl_->getSubscriber()->getNumPublishers(); 00058 return 0; 00059 } 00060 00061 void Subscriber::shutdown() 00062 { 00063 if (impl_) impl_->shutdown(); 00064 } 00065 00066 Subscriber::operator void*() const 00067 { 00068 return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; 00069 } 00070 00071 } //namespace message_transport