subscriber.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_SUBSCRIBER_HANDLE_H
00029 #define ROSCPP_SUBSCRIBER_HANDLE_H
00030 
00031 #include "common.h"
00032 #include "ros/forwards.h"
00033 #include "ros/subscription_callback_helper.h"
00034 
00035 namespace ros
00036 {
00037 
00046 class ROSCPP_DECL Subscriber
00047 {
00048 public:
00049   Subscriber() {}
00050   Subscriber(const Subscriber& rhs);
00051   ~Subscriber();
00052 
00062   void shutdown();
00063 
00064   std::string getTopic() const;
00065 
00069   uint32_t getNumPublishers() const;
00070 
00071   operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
00072 
00073   bool operator<(const Subscriber& rhs) const
00074   {
00075     return impl_ < rhs.impl_;
00076   }
00077 
00078   bool operator==(const Subscriber& rhs) const
00079   {
00080     return impl_ == rhs.impl_;
00081   }
00082 
00083   bool operator!=(const Subscriber& rhs) const
00084   {
00085     return impl_ != rhs.impl_;
00086   }
00087 
00088 private:
00089 
00090   Subscriber(const std::string& topic, const NodeHandle& node_handle, 
00091              const SubscriptionCallbackHelperPtr& helper);
00092 
00093   class Impl
00094   {
00095   public:
00096     Impl();
00097     ~Impl();
00098 
00099     void unsubscribe();
00100     bool isValid() const;
00101 
00102     std::string topic_;
00103     NodeHandlePtr node_handle_;
00104     SubscriptionCallbackHelperPtr helper_;
00105     bool unsubscribed_;
00106   };
00107   typedef boost::shared_ptr<Impl> ImplPtr;
00108   typedef boost::weak_ptr<Impl> ImplWPtr;
00109 
00110   ImplPtr impl_;
00111 
00112   friend class NodeHandle;
00113   friend class NodeHandleBackingCollection;
00114 };
00115 typedef std::vector<Subscriber> V_Subscriber;
00116 
00117 }
00118 
00119 #endif // ROSCPP_PUBLISHER_HANDLE_H
00120 
00121 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:04