subscriber.hpp

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef SUBSCRIBER_HPP
#define SUBSCRIBER_HPP
 
#include <string>
 
#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>
 
#include <ros/ros.h>
 
namespace naoqi
{
namespace subscriber
{
 
 
class Subscriber
{
 
public:
 
  template<typename T>
  Subscriber( T sub ):
    subPtr_( boost::make_shared<SubscriberModel<T> >(sub) )
  {}
 
  bool isInitialized() const
  {
    return subPtr_->isInitialized();
  }
 
  void reset( ros::NodeHandle& nh )
  {
    std::cout << name() << " is resetting" << std::endl;
    subPtr_->reset( nh );
    std::cout << name() << " reset" << std::endl;
  }
 
  std::string name() const
  {
    return subPtr_->name();
  }
 
  std::string topic() const
  {
    return subPtr_->topic();
  }
 
  friend bool operator==( const Subscriber& lhs, const Subscriber& rhs )
  {
    // decision made for OR-comparison since we want to be more restrictive
    if ( lhs.name() == rhs.name() || lhs.topic() == rhs.topic() )
      return true;
    return false;
  }
 
private:
 
  struct SubscriberConcept
  {
    virtual ~SubscriberConcept(){}
    virtual bool isInitialized() const = 0;
    virtual void reset( ros::NodeHandle& nh ) = 0;
    virtual std::string name() const = 0;
    virtual std::string topic() const = 0;
  };
 
 
  template<typename T>
  struct SubscriberModel : public SubscriberConcept
  {
    SubscriberModel( const T& other ):
      subscriber_( other )
    {}
 
    std::string name() const
    {
      return subscriber_->name();
    }
 
    std::string topic() const
    {
      return subscriber_->topic();
    }
 
    bool isInitialized() const
    {
      return subscriber_->isInitialized();
    }
 
    void reset( ros::NodeHandle& nh )
    {
      subscriber_->reset( nh );
    }
 
    T subscriber_;
  };
 
  boost::shared_ptr<SubscriberConcept> subPtr_;
 
}; // class subscriber
 
} //subscriber
} //naoqi
 
#endif