simple_subscriber_plugin.h
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00001 #ifndef MESSAGE_TRANSPORT_SIMPLE_SUBSCRIBER_PLUGIN_H
00002 #define MESSAGE_TRANSPORT_SIMPLE_SUBSCRIBER_PLUGIN_H
00003 
00004 #include "message_transport/subscriber_plugin.h"
00005 #include <boost/scoped_ptr.hpp>
00006 
00007 namespace message_transport {
00008 
00027         template <class Base, class M>
00028                  class SimpleSubscriberPlugin : public SubscriberPlugin<Base>
00029         {
00030                 public:
00031                         virtual ~SimpleSubscriberPlugin() {}
00032 
00033                         virtual std::string getTopic() const
00034                         {
00035                                 if (simple_impl_) return simple_impl_->sub_.getTopic();
00036                                 return std::string();
00037                         }
00038 
00039                         virtual uint32_t getNumPublishers() const
00040                         {
00041                                 if (simple_impl_) return simple_impl_->sub_.getNumPublishers();
00042                                 return 0;
00043                         }
00044 
00045                         virtual void shutdown()
00046                         {
00047                                 if (simple_impl_) simple_impl_->sub_.shutdown();
00048                         }
00049 
00050                 protected:
00057                         virtual void internalCallback(const typename M::ConstPtr& message, 
00058                                         const typename SubscriberPlugin<Base>::Callback& user_cb) = 0;
00059 
00065                         virtual std::string getTopicToSubscribe(const std::string& base_topic) const
00066                         {
00067                                 return base_topic + "/" + this->getTransportName();
00068                         }
00069 
00070                         virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00071                                         const typename SubscriberPlugin<Base>::Callback& callback, const ros::VoidPtr& tracked_object,
00072                                         const TransportHints& transport_hints)
00073                         {
00074                                 simple_impl_.reset(new SimpleSubscriberPluginImpl(nh, getTopicToSubscribe(base_topic)));
00075 
00076                                 simple_impl_->sub_ = nh.subscribe<M>(getTopicToSubscribe(base_topic), queue_size,
00077                                                 boost::bind(&SimpleSubscriberPlugin::internalCallback, this, _1, callback),
00078                                                 tracked_object, transport_hints.getRosHints());
00079                         }
00080 
00084                         ros::NodeHandle& nh() 
00085                         {
00086                                 return simple_impl_->param_nh_;
00087                         }
00088 
00089                 private:
00090                         struct SimpleSubscriberPluginImpl
00091                         {
00092                                 SimpleSubscriberPluginImpl(ros::NodeHandle & nh, const std::string& new_topic)
00093                                         : param_nh_(nh,new_topic)
00094                                 {
00095                                 }
00096 
00097                                 ros::NodeHandle param_nh_;
00098                                 ros::Subscriber sub_;
00099                         };
00100 
00101                         boost::scoped_ptr<SimpleSubscriberPluginImpl> simple_impl_;
00102         };
00103 
00104 } //namespace message_transport
00105 
00106 #endif


message_transport_common
Author(s): Cedric Pradalier
autogenerated on Sun Oct 5 2014 23:48:49