msg_saver.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef MSG_SAVER_H_
00031 #define MSG_SAVER_H_
00032 
00034 template<class MsgType>
00035 class MsgSaver
00036 {
00037 public:
00038   typedef boost::shared_ptr< MsgType const> MsgTypeConstPtr;
00039 
00040   MsgSaver( std::string topic )
00041   {
00042     boost::mutex::scoped_lock lock( mutex_ );
00043     sub_ = root_nh_.subscribe<MsgType>(topic, 1, boost::bind(&MsgSaver<MsgType>::callback, this, _1 ) );
00044     topic_ = topic;
00045   }
00046 
00047   void callback(const MsgTypeConstPtr& msg )
00048   {
00049     boost::mutex::scoped_lock lock( mutex_ );
00050     if (!msg_) ROS_INFO_STREAM( "Message received on " << topic_ );
00051     msg_ = msg;
00052   }
00053 
00054   bool hasMsg()
00055   {
00056     boost::mutex::scoped_lock lock( mutex_ );
00057     if (!msg_) ROS_INFO_STREAM( "Waiting for " << topic_ );
00058     bool hasMsg = msg_;
00059     return hasMsg;
00060   }
00061 
00062   MsgTypeConstPtr getMsg()
00063   {
00064     boost::mutex::scoped_lock lock( mutex_ );
00065     MsgTypeConstPtr msg = msg_;
00066     return msg;
00067   }
00068 
00069 private:
00070 
00071   boost::mutex mutex_;
00072   MsgTypeConstPtr msg_;
00073   ros::Subscriber sub_;
00074   ros::NodeHandle root_nh_;
00075   std::string topic_;
00076 };
00077 
00078 #endif /* MSG_SAVER_H_ */


pr2_interactive_object_detection
Author(s): David Gossow
autogenerated on Mon Oct 6 2014 12:02:20