topic.h
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00001 /*
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00034 
00035 #ifndef ROSCPP_TOPIC_H
00036 #define ROSCPP_TOPIC_H
00037 
00038 #include "common.h"
00039 #include "node_handle.h"
00040 #include <boost/shared_ptr.hpp>
00041 
00042 namespace ros
00043 {
00044 namespace topic
00045 {
00046 
00050 ROSCPP_DECL void waitForMessageImpl(SubscribeOptions& ops, const boost::function<bool(void)>& ready_pred, NodeHandle& nh, ros::Duration timeout);
00051 
00052 template<class M>
00053 class SubscribeHelper
00054 {
00055 public:
00056   typedef boost::shared_ptr<M const> MConstPtr;
00057   void callback(const MConstPtr& message)
00058   {
00059     message_ = message;
00060   }
00061 
00062   bool hasMessage()
00063   {
00064     return static_cast<bool>(message_);
00065   }
00066 
00067   MConstPtr getMessage()
00068   {
00069     return message_;
00070   }
00071 
00072 private:
00073   MConstPtr message_;
00074 };
00075 
00085 template<class M>
00086 boost::shared_ptr<M const> waitForMessage(const std::string& topic, NodeHandle& nh, ros::Duration timeout)
00087 {
00088   SubscribeHelper<M> helper;
00089   SubscribeOptions ops;
00090   ops.template init<M>(topic, 1, boost::bind(&SubscribeHelper<M>::callback, &helper, _1));
00091 
00092   waitForMessageImpl(ops, boost::bind(&SubscribeHelper<M>::hasMessage, &helper), nh, timeout);
00093 
00094   return helper.getMessage();
00095 }
00096 
00104 template<class M>
00105 boost::shared_ptr<M const> waitForMessage(const std::string& topic)
00106 {
00107   ros::NodeHandle nh;
00108   return waitForMessage<M>(topic, nh, ros::Duration());
00109 }
00110 
00119 template<class M>
00120 boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::Duration timeout)
00121 {
00122   ros::NodeHandle nh;
00123   return waitForMessage<M>(topic, nh, timeout);
00124 }
00125 
00134 template<class M>
00135 boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::NodeHandle& nh)
00136 {
00137   return waitForMessage<M>(topic, nh, ros::Duration());
00138 }
00139 
00140 } // namespace topic
00141 } // namespace ros
00142 
00143 #endif // ROSCPP_TOPIC_H


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