signal1.h
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00034 
00035 #ifndef MESSAGE_FILTERS_SIGNAL1_H
00036 #define MESSAGE_FILTERS_SIGNAL1_H
00037 
00038 #include <boost/noncopyable.hpp>
00039 
00040 #include "connection.h"
00041 #include <ros/message_event.h>
00042 #include <ros/parameter_adapter.h>
00043 
00044 #include <boost/bind.hpp>
00045 #include <boost/thread/mutex.hpp>
00046 
00047 namespace message_filters
00048 {
00049 template<class M>
00050 class CallbackHelper1
00051 {
00052 public:
00053   virtual ~CallbackHelper1() {}
00054 
00055   virtual void call(const ros::MessageEvent<M const>& event, bool nonconst_need_copy) = 0;
00056 
00057   typedef boost::shared_ptr<CallbackHelper1<M> > Ptr;
00058 };
00059 
00060 template<typename P, typename M>
00061 class CallbackHelper1T : public CallbackHelper1<M>
00062 {
00063 public:
00064   typedef ros::ParameterAdapter<P> Adapter;
00065   typedef boost::function<void(typename Adapter::Parameter)> Callback;
00066   typedef typename Adapter::Event Event;
00067 
00068   CallbackHelper1T(const Callback& cb)
00069   : callback_(cb)
00070   {
00071   }
00072 
00073   virtual void call(const ros::MessageEvent<M const>& event, bool nonconst_force_copy)
00074   {
00075     Event my_event(event, nonconst_force_copy || event.nonConstWillCopy());
00076     callback_(Adapter::getParameter(my_event));
00077   }
00078 
00079 private:
00080   Callback callback_;
00081 };
00082 
00083 template<class M>
00084 class Signal1
00085 {
00086   typedef boost::shared_ptr<CallbackHelper1<M> > CallbackHelper1Ptr;
00087   typedef std::vector<CallbackHelper1Ptr> V_CallbackHelper1;
00088 
00089 public:
00090   template<typename P>
00091   CallbackHelper1Ptr addCallback(const boost::function<void(P)>& callback)
00092   {
00093     CallbackHelper1T<P, M>* helper = new CallbackHelper1T<P, M>(callback);
00094 
00095     boost::mutex::scoped_lock lock(mutex_);
00096     callbacks_.push_back(CallbackHelper1Ptr(helper));
00097     return callbacks_.back();
00098   }
00099 
00100   void removeCallback(const CallbackHelper1Ptr& helper)
00101   {
00102     boost::mutex::scoped_lock lock(mutex_);
00103     typename V_CallbackHelper1::iterator it = std::find(callbacks_.begin(), callbacks_.end(), helper);
00104     if (it != callbacks_.end())
00105     {
00106       callbacks_.erase(it);
00107     }
00108   }
00109 
00110   void call(const ros::MessageEvent<M const>& event)
00111   {
00112     boost::mutex::scoped_lock lock(mutex_);
00113     bool nonconst_force_copy = callbacks_.size() > 1;
00114     typename V_CallbackHelper1::iterator it = callbacks_.begin();
00115     typename V_CallbackHelper1::iterator end = callbacks_.end();
00116     for (; it != end; ++it)
00117     {
00118       const CallbackHelper1Ptr& helper = *it;
00119       helper->call(event, nonconst_force_copy);
00120     }
00121   }
00122 
00123 private:
00124   boost::mutex mutex_;
00125   V_CallbackHelper1 callbacks_;
00126 };
00127 
00128 } // message_filters
00129 
00130 #endif // MESSAGE_FILTERS_SIGNAL1_H
00131 
00132 


message_filters
Author(s): Josh Faust, Vijay Pradeep
autogenerated on Tue Mar 7 2017 04:01:23