subscriber.h
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34 
35 #ifndef ROS_SUBSCRIBER_H_
36 #define ROS_SUBSCRIBER_H_
37 
38 #include "rosserial_msgs/TopicInfo.h"
39 
40 namespace ros
41 {
42 
43 /* Base class for objects subscribers. */
45 {
46 public:
47  virtual void callback(unsigned char *data) = 0;
48  virtual int getEndpointType() = 0;
49 
50  // id_ is set by NodeHandle when we advertise
51  int id_;
52 
53  virtual const char * getMsgType() = 0;
54  virtual const char * getMsgMD5() = 0;
55  const char * topic_;
56 };
57 
58 /* Bound function subscriber. */
59 template<typename MsgT, typename ObjT = void>
60 class Subscriber: public Subscriber_
61 {
62 public:
63  typedef void(ObjT::*CallbackT)(const MsgT&);
64  MsgT msg;
65 
66  Subscriber(const char * topic_name, CallbackT cb, ObjT* obj, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
67  cb_(cb),
68  obj_(obj),
69  endpoint_(endpoint)
70  {
71  topic_ = topic_name;
72  };
73 
74  virtual void callback(unsigned char* data)
75  {
76  msg.deserialize(data);
77  (obj_->*cb_)(msg);
78  }
79 
80  virtual const char * getMsgType()
81  {
82  return this->msg.getType();
83  }
84  virtual const char * getMsgMD5()
85  {
86  return this->msg.getMD5();
87  }
88  virtual int getEndpointType()
89  {
90  return endpoint_;
91  }
92 
93 private:
94  CallbackT cb_;
95  ObjT* obj_;
96  int endpoint_;
97 };
98 
99 /* Standalone function subscriber. */
100 template<typename MsgT>
101 class Subscriber<MsgT, void>: public Subscriber_
102 {
103 public:
104  typedef void(*CallbackT)(const MsgT&);
105  MsgT msg;
106 
107  Subscriber(const char * topic_name, CallbackT cb, int endpoint = rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
108  cb_(cb),
109  endpoint_(endpoint)
110  {
111  topic_ = topic_name;
112  };
113 
114  virtual void callback(unsigned char* data)
115  {
116  msg.deserialize(data);
117  this->cb_(msg);
118  }
119 
120  virtual const char * getMsgType()
121  {
122  return this->msg.getType();
123  }
124  virtual const char * getMsgMD5()
125  {
126  return this->msg.getMD5();
127  }
128  virtual int getEndpointType()
129  {
130  return endpoint_;
131  }
132 
133 private:
134  CallbackT cb_;
136 };
137 
138 }
139 
140 #endif
Subscriber(const char *topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER)
Definition: subscriber.h:107
virtual const char * getMsgMD5()
Definition: subscriber.h:124
virtual void callback(unsigned char *data)=0
virtual int getEndpointType()=0
virtual const char * getMsgType()
Definition: subscriber.h:120
virtual const char * getMsgMD5()=0
virtual void callback(unsigned char *data)
Definition: subscriber.h:114
const char * topic_
Definition: subscriber.h:55
virtual const char * getMsgType()=0


rosserial_client
Author(s): Michael Ferguson, Adam Stambler
autogenerated on Fri Jun 7 2019 22:02:43