Diff: ros/subscriber.h

Revision:

0:77afd7560544

Child:

1:ff0ec969dad1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/subscriber.h	Fri Aug 19 09:06:30 2011 +0000
@@ -0,0 +1,42 @@
+/*
+ * subscriber.h
+ *
+ *  Created on: Aug 5, 2011
+ *      Author: astambler
+ */
+
+#ifndef SUBSCRIBER_H_
+#define SUBSCRIBER_H_
+
+#include "rosserial_ids.h"
+#include "msg_receiver.h"
+namespace ros{
+
+/* ROS Subscriber
+ * This class handles holding the msg so that
+ * it is not continously reallocated.  It is also used by the
+ * node handle to keep track of callback functions and IDs.
+ */
+template<typename MsgT>
+class Subscriber: public MsgReceiver{
+  public:
+
+      typedef void(*CallbackT)(const MsgT&);
+
+      Subscriber(const char * topic_name, CallbackT msgCB){
+      topic_ = topic_name;
+      cb_= msgCB;
+    }
+    MsgT msg;
+    virtual void receive(unsigned char* data){
+      msg.deserialize(data);
+      this->cb_(msg);
+      }
+    virtual const char * getMsgType(){return this->msg.getType();}
+    virtual int _getType(){return TOPIC_SUBSCRIBERS;}
+  private:
+    CallbackT cb_;
+};
+
+}
+#endif /* SUBSCRIBER_H_ */