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added callback to subscriber signature

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This commit is contained in:
William Woodall 2014-08-13 14:44:15 -07:00
parent c6d98ecb2a
commit 0559fafcd0
3 changed files with 24 additions and 13 deletions
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4
rclcpp/include/rclcpp/Node.h
View file

@ -40,11 +40,11 @@ public:
}
template<typename ROSMessage>
Subscriber<ROSMessage>* create_subscriber(const char * topic_name)
Subscriber<ROSMessage>* create_subscriber(const char * topic_name, typename Subscriber<ROSMessage>::CallbackType callback)
{
const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle = ::ros_middleware_interface::get_type_support_handle<ROSMessage>();
ros_middleware_interface::SubscriberHandle subscriber_handle = ::ros_middleware_interface::create_subscriber(node_handle_, type_support_handle, topic_name);
SubscriberInterface *sub = new Subscriber<ROSMessage>(subscriber_handle, std::string(topic_name));
SubscriberInterface *sub = new Subscriber<ROSMessage>(subscriber_handle, std::string(topic_name), callback);
this->subscribers_.push_back(sub);
return static_cast<Subscriber<ROSMessage> *>(sub);
}

32
rclcpp/include/rclcpp/Subscriber.h
View file

@ -25,15 +25,13 @@ public:
SubscriberInterface(const ros_middleware_interface::SubscriberHandle &subscriber_handle, std::string topic_name)
: subscriber_handle_(subscriber_handle), topic_name_(topic_name)
{}
virtual void * create_message()
{
throw std::runtime_error("not implemented - should always use override from subclass");
}
virtual void delete_message(void * ros_message)
{
throw std::runtime_error("not implemented - should always use override from subclass");
}
private:
virtual void * create_message() = 0;
virtual void delete_message(void * ros_message) = 0;
virtual void handle_message(void * ros_message) = 0;
ros_middleware_interface::SubscriberHandle subscriber_handle_;
std::string topic_name_;
@ -44,20 +42,32 @@ class Subscriber : public SubscriberInterface
{
friend class rclcpp::Node;
public:
typedef std::function<void(ROSMessage *)> CallbackType;
Subscriber(const ros_middleware_interface::SubscriberHandle &subscriber_handle, std::string topic_name)
: SubscriberInterface(subscriber_handle, topic_name)
typedef std::function<void(const ROSMessage *)> CallbackType;
Subscriber(const ros_middleware_interface::SubscriberHandle &subscriber_handle, std::string topic_name, CallbackType callback)
: SubscriberInterface(subscriber_handle, topic_name), callback_(callback)
{}
private:
void * create_message()
{
return new ROSMessage();
}
void delete_message(void * ros_message)
{
ROSMessage* msg = (ROSMessage*)ros_message;
delete msg;
ros_message = 0;
}
void handle_message(void * ros_message)
{
ROSMessage* msg = (ROSMessage*)ros_message;
callback_(msg);
}
CallbackType callback_;
};
}

1
rclcpp/include/rclcpp/executor/SingleThreadExecutor.h
View file

@ -85,6 +85,7 @@ public:
if (taken)
{
std::cout << "- received message on topic: " << subscriber->topic_name_ << std::endl;
subscriber->handle_message(ros_msg);
}
subscriber->delete_message(ros_msg);
}