optional_subscriber.h

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#ifndef SWRI_ROSCPP_OPTIONAL_SUBSCRIBER_H_
#define SWRI_ROSCPP_OPTIONAL_SUBSCRIBER_H_
 
#include <ros/node_handle.h>
 
#include <swri_roscpp/subscriber.h>
 
// This is a wrapper that lets you bring a swri::Subscriber up and down with a simple function call
 
namespace swri
{
 
class OptionalSubscriberImplRoot
{
public:
  virtual ~OptionalSubscriberImplRoot()
  {
 
  }
 
  virtual swri::Subscriber subscribe() = 0;
};
 
template<class M, class T>
class OptionalSubscriberImpl: public OptionalSubscriberImplRoot
{
  ros::NodeHandle nh_;
  ros::TransportHints transport_hints_;
  std::string name_;
  uint32_t queue_size_;
 
  void(T::*callback_)(const boost::shared_ptr<M const> &);
  T* obj_;
 
public:
  void initialize(ros::NodeHandle &nh,
              const std::string &name,
              uint32_t queue_size,
              void(T::*cb)(const boost::shared_ptr<M const> &),
              T *obj,
              const ros::TransportHints &transport_hints)
  {
    nh_ = nh;
    name_ = name;
    queue_size_ = queue_size;
    callback_ = cb;
    obj_ = obj;
    transport_hints_ = transport_hints;
  }
 
  virtual swri::Subscriber subscribe()
  {
    return swri::Subscriber(nh_, name_, queue_size_, callback_, obj_, transport_hints_);
  }
};
 
class OptionalSubscriber
{
  swri::Subscriber sub_;
  boost::shared_ptr<OptionalSubscriberImplRoot> impl_;
  
public:
 
  OptionalSubscriber() {}
 
  template<class T, class M>
  OptionalSubscriber(ros::NodeHandle& nh, std::string topic, uint32_t queue_size,
             void(T::*fp)(const boost::shared_ptr< M const > &),
             T *obj,
             const ros::TransportHints &transport_hints=ros::TransportHints())
  {
    OptionalSubscriberImpl<M, T>* ptr = new OptionalSubscriberImpl<M, T>();
    ptr->initialize(nh, topic, queue_size, fp, obj, transport_hints);
    impl_ = boost::shared_ptr<OptionalSubscriberImplRoot>(ptr);
  }
 
  inline void subscribe()
  {
    if (!impl_)
    {
      ROS_ERROR("Called subscribe on uninitialized optional subscriber");
      return;
    }
    sub_ = impl_->subscribe();
  }
 
  inline int numPublishers()
  {
    return sub_.numPublishers();
  }
 
  void shutdown()
  {
    sub_ = swri::Subscriber();
  }
};
 
}  // namespace swri
#endif  // SWRI_ROSCPP_OPTIONAL_SUBSCRIBER_H_