MessageSubscriberRegistry.h

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/******************************************************************************
 * Copyright (C) 2015 by Ralf Kaestner                                        *
 * ralf.kaestner@gmail.com                                                    *
 *                                                                            *
 * This program is free software; you can redistribute it and/or modify       *
 * it under the terms of the Lesser GNU General Public License as published by*
 * the Free Software Foundation; either version 3 of the License, or          *
 * (at your option) any later version.                                        *
 *                                                                            *
 * This program is distributed in the hope that it will be useful,            *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of             *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the               *
 * Lesser GNU General Public License for more details.                        *
 *                                                                            *
 * You should have received a copy of the Lesser GNU General Public License   *
 * along with this program. If not, see <http://www.gnu.org/licenses/>.       *
 ******************************************************************************/

#ifndef RQT_MULTIPLOT_MESSAGE_SUBSCRIBER_REGISTRY_H
#define RQT_MULTIPLOT_MESSAGE_SUBSCRIBER_REGISTRY_H

#include <QMap>
#include <QString>

#include <rqt_multiplot/MessageBroker.h>
#include <rqt_multiplot/MessageSubscriber.h>

namespace rqt_multiplot {
  class MessageSubscriberRegistry :
    public MessageBroker {
  Q_OBJECT
  public:
    MessageSubscriberRegistry(QObject* parent = 0, const ros::NodeHandle&
      nodeHandle = ros::NodeHandle("~"));
    virtual ~MessageSubscriberRegistry();
    
    const ros::NodeHandle& getNodeHandle() const;
    
    bool subscribe(const QString& topic, QObject* receiver,
      const char* method, const PropertyMap& properties = PropertyMap(),
      Qt::ConnectionType type = Qt::AutoConnection);
    bool unsubscribe(const QString& topic, QObject* receiver,
      const char* method = 0);
    
  private:
    ros::NodeHandle nodeHandle_;
    
    QMap<QString, MessageSubscriber*> subscribers_;
    
  private slots:
    void subscriberAboutToBeDestroyed();
  };
};

#endif