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00038 package ros.roscpp;
00039
00040 import ros.RosException;
00041 import ros.Subscriber;
00042 import ros.communication.Message;
00043
00044 public class CppSubscriber<M extends Message> implements Subscriber<M> {
00045 private String topic;
00046 private long cppCallback;
00047 private long cppSubscriber;
00048
00049 private CppSubscriber() {}
00050
00051 protected static <M extends Message> CppSubscriber<M> create(long cppHandle, String topic, M messageTemplate, Callback<M> callback, int queueSize) throws RosException {
00052 CppSubscriber<M> that = new CppSubscriber<M>();
00053 that.topic = topic;
00054 that.cppCallback = JNI.createSubCallback(callback, messageTemplate);
00055 if (that.cppCallback == 0) throw new RuntimeException("Could not create callback wrapper.");
00056 that.cppSubscriber = JNI.subscribe(cppHandle, topic, that.cppCallback, queueSize);
00057 if (that.cppSubscriber == 0) {
00058 JNI.deleteSubCallback(that.cppCallback);
00059 throw new RosException("Could not subscribe to topic " + topic);
00060 }
00061 return that;
00062 }
00063
00064 public String getTopic() { return topic; }
00065
00066 public boolean isValid() { return (cppSubscriber != 0) && JNI.isSubscriberValid(cppSubscriber); }
00067
00068 public void shutdown() {
00069 if (!isValid()) return;
00070 JNI.shutdownSubscriber(cppSubscriber);
00071 JNI.deleteSubCallback(cppCallback);
00072
00073 cppSubscriber = 0;
00074 }
00075 }