Diff: ros/subscriber.h

Revision:

4:2cbca0ac2569

Parent:

3:dff241b66f84

--- a/ros/subscriber.h	Sat Nov 12 23:53:04 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,88 +0,0 @@
-/* 
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- *  * Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *  * Redistributions in binary form must reproduce the above
- *    copyright notice, this list of conditions and the following
- *    disclaimer in the documentation and/or other materials provided
- *    with the distribution.
- *  * Neither the name of Willow Garage, Inc. nor the names of its
- *    contributors may be used to endorse or promote prducts derived
- *    from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef ROS_SUBSCRIBER_H_
-#define ROS_SUBSCRIBER_H_
-
-#include "rosserial_msgs/TopicInfo.h"
-
-namespace ros {
-
-  /* Base class for objects subscribers. */
-  class Subscriber_
-  {
-    public:
-      virtual void callback(unsigned char *data)=0;
-      virtual int getEndpointType()=0;
-
-      // id_ is set by NodeHandle when we advertise 
-      int16_t id_;
-
-      virtual const char * getMsgType()=0;
-      virtual const char * getMsgMD5()=0;
-      const char * topic_;
-  };
-
-
-  /* Actual subscriber, templated on message type. */
-  template<typename MsgT>
-  class Subscriber: public Subscriber_{
-    public:
-      typedef void(*CallbackT)(const MsgT&);
-      MsgT msg;
-
-      Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
-        cb_(cb),
-        endpoint_(endpoint)
-      {
-        topic_ = topic_name;
-      };
-
-      virtual void callback(unsigned char* data){
-        msg.deserialize(data);
-        this->cb_(msg);
-      }
-
-      virtual const char * getMsgType(){ return this->msg.getType(); }
-      virtual const char * getMsgMD5(){ return this->msg.getMD5(); }
-      virtual int getEndpointType(){ return endpoint_; }
-
-    private:
-      CallbackT cb_;
-      int endpoint_;
-  };
-
-}
-
-#endif
\ No newline at end of file