topic.h
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34 
35 #ifndef ROSCPP_TOPIC_H
36 #define ROSCPP_TOPIC_H
37 
38 #include "common.h"
39 #include "node_handle.h"
40 #include <boost/shared_ptr.hpp>
41 
42 namespace ros
43 {
44 namespace topic
45 {
46 
50 ROSCPP_DECL void waitForMessageImpl(SubscribeOptions& ops, const boost::function<bool(void)>& ready_pred, NodeHandle& nh, ros::Duration timeout);
51 
52 template<class M>
54 {
55 public:
57  void callback(const MConstPtr& message)
58  {
59  message_ = message;
60  }
61 
62  bool hasMessage()
63  {
64  return static_cast<bool>(message_);
65  }
66 
67  MConstPtr getMessage()
68  {
69  return message_;
70  }
71 
72 private:
73  MConstPtr message_;
74 };
75 
85 template<class M>
86 boost::shared_ptr<M const> waitForMessage(const std::string& topic, NodeHandle& nh, ros::Duration timeout)
87 {
88  SubscribeHelper<M> helper;
89  SubscribeOptions ops;
90  ops.template init<M>(topic, 1, boost::bind(&SubscribeHelper<M>::callback, &helper, _1));
91 
92  waitForMessageImpl(ops, boost::bind(&SubscribeHelper<M>::hasMessage, &helper), nh, timeout);
93 
94  return helper.getMessage();
95 }
96 
104 template<class M>
106 {
107  ros::NodeHandle nh;
108  return waitForMessage<M>(topic, nh, ros::Duration());
109 }
110 
119 template<class M>
120 boost::shared_ptr<M const> waitForMessage(const std::string& topic, ros::Duration timeout)
121 {
122  ros::NodeHandle nh;
123  return waitForMessage<M>(topic, nh, timeout);
124 }
125 
134 template<class M>
136 {
137  return waitForMessage<M>(topic, nh, ros::Duration());
138 }
139 
140 } // namespace topic
141 } // namespace ros
142 
143 #endif // ROSCPP_TOPIC_H
boost::shared_ptr< M const > MConstPtr
Definition: topic.h:56
void callback(const MConstPtr &message)
Definition: topic.h:57
Encapsulates all options available for creating a Subscriber.
roscpp&#39;s interface for creating subscribers, publishers, etc.
Definition: node_handle.h:87
ROSCPP_DECL void waitForMessageImpl(SubscribeOptions &ops, const boost::function< bool(void)> &ready_pred, NodeHandle &nh, ros::Duration timeout)
Internal method, do not use.
Definition: topic.cpp:43
MConstPtr getMessage()
Definition: topic.h:67
boost::shared_ptr< M const > waitForMessage(const std::string &topic, NodeHandle &nh, ros::Duration timeout)
Wait for a single message to arrive on a topic, with timeout.
Definition: topic.h:86


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Wed Dec 20 2017 03:58:41