subscriber.h

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#ifndef MESSAGE_FILTERS_SUBSCRIBER_H
#define MESSAGE_FILTERS_SUBSCRIBER_H

#include <ros/ros.h>

#include <boost/thread/mutex.hpp>

#include "connection.h"
#include "simple_filter.h"

namespace message_filters
{

class SubscriberBase
{
public:
  virtual ~SubscriberBase() {}
  virtual void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0) = 0;
  virtual void subscribe() = 0;
  virtual void unsubscribe() = 0;
};
typedef boost::shared_ptr<SubscriberBase> SubscriberBasePtr;

template<class M>
class Subscriber : public SubscriberBase, public SimpleFilter<M>
{
public:
  typedef boost::shared_ptr<M const> MConstPtr;
  typedef ros::MessageEvent<M const> EventType;

  Subscriber(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
  {
    subscribe(nh, topic, queue_size, transport_hints, callback_queue);
  }

  Subscriber()
  {
  }

  ~Subscriber()
  {
    unsubscribe();
  }

  void subscribe(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::TransportHints& transport_hints = ros::TransportHints(), ros::CallbackQueueInterface* callback_queue = 0)
  {
    unsubscribe();

    if (!topic.empty())
    {
      ops_.template initByFullCallbackType<const EventType&>(topic, queue_size, boost::bind(&Subscriber<M>::cb, this, _1));
      ops_.callback_queue = callback_queue;
      ops_.transport_hints = transport_hints;
      sub_ = nh.subscribe(ops_);
      nh_ = nh;
    }
  }

  void subscribe()
  {
    unsubscribe();

    if (!ops_.topic.empty())
    {
      sub_ = nh_.subscribe(ops_);
    }
  }

  void unsubscribe()
  {
    sub_.shutdown();
  }

  std::string getTopic() const
  {
    return ops_.topic;
  }

  const ros::Subscriber& getSubscriber() const { return sub_; }

  template<typename F>
  void connectInput(F& f)
  {
    (void)f;
  }

  void add(const EventType& e)
  {
    (void)e;
  }

private:

  void cb(const EventType& e)
  {
    this->signalMessage(e);
  }

  ros::Subscriber sub_;
  ros::SubscribeOptions ops_;
  ros::NodeHandle nh_;
};

}

#endif