Quadrotor

/* 

 * 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

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 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

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 */

#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 

      int 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