msg_saver.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef MSG_SAVER_H_
00031 #define MSG_SAVER_H_
00032 
00033 #include <boost/thread/mutex.hpp>
00034 
00036 template<class MsgType>
00037 class MsgSaver
00038 {
00039 public:
00040   typedef boost::shared_ptr< MsgType const> MsgTypeConstPtr;
00041 
00042   MsgSaver( std::string topic )
00043   {
00044     boost::mutex::scoped_lock lock( mutex_ );
00045     sub_ = root_nh_.subscribe<MsgType>(topic, 1, boost::bind(&MsgSaver<MsgType>::callback, this, _1 ) );
00046     topic_ = topic;
00047   }
00048 
00049   void callback(const MsgTypeConstPtr& msg )
00050   {
00051     boost::mutex::scoped_lock lock( mutex_ );
00052     if (!msg_) ROS_INFO_STREAM( "Message received on " << topic_ );
00053     msg_ = msg;
00054   }
00055 
00056   bool hasMsg()
00057   {
00058     boost::mutex::scoped_lock lock( mutex_ );
00059     if (!msg_) ROS_INFO_STREAM( "Waiting for " << topic_ );
00060     bool hasMsg = msg_;
00061     return hasMsg;
00062   }
00063 
00064   MsgTypeConstPtr getMsg()
00065   {
00066     boost::mutex::scoped_lock lock( mutex_ );
00067     MsgTypeConstPtr msg = msg_;
00068     return msg;
00069   }
00070 
00071 private:
00072 
00073   boost::mutex mutex_;
00074   MsgTypeConstPtr msg_;
00075   ros::Subscriber sub_;
00076   ros::NodeHandle root_nh_;
00077   std::string topic_;
00078 };
00079 
00080 #endif /* MSG_SAVER_H_ */
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fast_plane_detection
Author(s): Jeannette Bohg
autogenerated on Wed Jan 23 2013 16:52:54