subscriber.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2009, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
#ifndef MESSAGE_FILTERS_SUBSCRIBER_H
#define MESSAGE_FILTERS_SUBSCRIBER_H
 
#include <ros/ros.h>
 
#include <boost/thread/mutex.hpp>
 
#include "connection.h"
#include "simple_filter.h"
 
namespace message_filters
{
 
class SubscriberBase
{
public:
  virtual ~SubscriberBase() {}
  virtual void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0) = 0;
  virtual void subscribe() = 0;
  virtual void unsubscribe() = 0;
};
typedef boost::shared_ptr<SubscriberBase> SubscriberBasePtr;
 
template<class M>
class Subscriber : public SubscriberBase, public SimpleFilter<M>
{
public:
  typedef boost::shared_ptr<M const> MConstPtr;
  typedef ros::MessageEvent<M const> EventType;
 
  Subscriber(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
  {
    subscribe(nh, topic, queue_size, transport_hints, callback_queue);
  }
 
  Subscriber()
  {
  }
 
  ~Subscriber()
  {
    Subscriber::unsubscribe();
  }
 
  void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
  {
    unsubscribe();
 
    if (!topic.empty())
    {
      ops_.template initByFullCallbackType<const EventType&>(topic, queue_size, boost::bind(&Subscriber<M>::cb, this, boost::placeholders::_1));
      ops_.callback_queue = callback_queue;
      ops_.transport_hints = transport_hints;
      sub_ = nh.subscribe(ops_);
      nh_ = nh;
    }
  }
 
  void subscribe()
  {
    unsubscribe();
 
    if (!ops_.topic.empty())
    {
      sub_ = nh_.subscribe(ops_);
    }
  }
 
  void unsubscribe()
  {
    sub_.shutdown();
  }
 
  std::string getTopic() const
  {
    return ops_.topic;
  }
 
  const ros::Subscriber& getSubscriber() const { return sub_; }
 
  template<typename F>
  void connectInput(F& f)
  {
    (void)f;
  }
 
  void add(const EventType& e)
  {
    (void)e;
  }
 
private:
 
  void cb(const EventType& e)
  {
    this->signalMessage(e);
  }
 
  ros::Subscriber sub_;
  ros::SubscribeOptions ops_;
  ros::NodeHandle nh_;
};
 
}
 
#endif