00001 //================================================================================================= 00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 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 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef UBLOX_GPS_CALLBACK_H 00030 #define UBLOX_GPS_CALLBACK_H 00031 00032 #include <boost/function.hpp> 00033 #include <boost/thread.hpp> 00034 #include <ublox/serialization/ublox_msgs.h> 00035 00036 namespace ublox_gps { 00037 00038 class CallbackHandler { 00039 public: 00040 virtual void handle(ublox::Reader &reader) = 0; 00041 virtual bool wait(const boost::posix_time::time_duration& timeout); 00042 boost::mutex mutex_; 00043 boost::condition_variable condition_; 00044 }; 00045 00046 template <typename T> 00047 class CallbackHandler_ : public CallbackHandler { 00048 public: 00049 typedef boost::function<void(const T&)> Callback; 00050 CallbackHandler_(const Callback& func = Callback()) : func_(func) {} 00051 virtual void handle(ublox::Reader &reader); 00052 virtual const T& get() { return message_; } 00053 00054 private: 00055 Callback func_; 00056 T message_; 00057 }; 00058 00059 typedef std::multimap<std::pair<uint8_t,uint8_t>, boost::shared_ptr<CallbackHandler> > Callbacks; 00060 00061 } // namespace ublox_gps 00062 00063 #endif // UBLOX_GPS_CALLBACK_H