Program Listing for File simple_filter.hpp
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#ifndef MESSAGE_FILTERS__SIMPLE_FILTER_HPP_
#define MESSAGE_FILTERS__SIMPLE_FILTER_HPP_
#include <functional>
#include <memory>
#include <string>
#include "message_filters/connection.hpp"
#include "message_filters/signal1.hpp"
#include "message_filters/message_event.hpp"
namespace message_filters
{
template<class M>
class SimpleFilter : public noncopyable
{
public:
typedef std::shared_ptr<M const> MConstPtr;
typedef std::function<void (const MConstPtr &)> Callback;
typedef MessageEvent<M const> EventType;
typedef std::function<void (const EventType &)> EventCallback;
template<typename C>
Connection registerCallback(const C & callback)
{
typename CallbackHelper1<M>::Ptr helper = signal_.addCallback(Callback(callback));
return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
}
template<typename P>
Connection registerCallback(const std::function<void(P)> & callback)
{
return Connection(std::bind(&Signal::removeCallback, &signal_, signal_.addCallback(callback)));
}
template<typename P>
Connection registerCallback(void (* callback)(P))
{
typename CallbackHelper1<M>::Ptr helper =
signal_.template addCallback<P>(std::bind(callback, std::placeholders::_1));
return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
}
template<typename T, typename P>
Connection registerCallback(void (T::* callback)(P), T * t)
{
typename CallbackHelper1<M>::Ptr helper =
signal_.template addCallback<P>(std::bind(callback, t, std::placeholders::_1));
return Connection(std::bind(&Signal::removeCallback, &signal_, helper));
}
void setName(const std::string & name) {name_ = name;}
const std::string & getName() {return name_;}
protected:
void signalMessage(const MConstPtr & msg)
{
MessageEvent<M const> event(msg);
signal_.call(event);
}
void signalMessage(const MessageEvent<M const> & event)
{
signal_.call(event);
}
private:
typedef Signal1<M> Signal;
Signal signal_;
std::string name_;
};
} // namespace message_filters
#endif // MESSAGE_FILTERS__SIMPLE_FILTER_HPP_