GenericSubscriber.hpp

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/*
 * GenericSubscriber.hpp
 *
 *  Created on: Feb 29, 2012
 *      Author: mriedel
 */

#ifndef GENERICSUBSCRIBER_HPP_
#define GENERICSUBSCRIBER_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <boost/thread/mutex.hpp>

#include <ros/node_handle.h>

namespace TELEKYB_NAMESPACE
{

template <class T_>
class GenericSubscriber {
protected:
        T_ lastMsg;
        boost::mutex lastMsgLock;

        // Subscriber
        ros::Subscriber sub;

        void msgCallback(boost::shared_ptr<T_ const> msg) {
                boost::mutex::scoped_lock(lastMsgLock);
                lastMsg = *msg; // copy
        }

public:
        GenericSubscriber(ros::NodeHandle handle, const std::string& topicName, int queue_size) {
                sub = handle.subscribe(topicName, queue_size, &GenericSubscriber<T_>::msgCallback, this);
        }

        virtual ~GenericSubscriber() {};

        T_ getLastMsg() const {
                boost::mutex::scoped_lock(lastMsgLock);
                return lastMsg; // implicit copy. Maybe we can do this more efficient?
        }
};

}

#endif /* GENERICSUBSCRIBER_HPP_ */