74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Handles a subscription to a topic
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* Author: Nate Koenig
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/transport/TopicManager.hh"
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#include "gazebo/transport/Node.hh"
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#include "gazebo/transport/Subscriber.hh"
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using namespace gazebo;
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using namespace transport;
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//////////////////////////////////////////////////
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Subscriber::Subscriber(const std::string &t, NodePtr _node)
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: topic(t), node(_node)
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{
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}
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//////////////////////////////////////////////////
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Subscriber::~Subscriber()
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{
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this->Unsubscribe();
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this->node.reset();
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}
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//////////////////////////////////////////////////
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std::string Subscriber::GetTopic() const
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{
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return this->topic;
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}
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//////////////////////////////////////////////////
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void Subscriber::Unsubscribe() const
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{
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if (this->node)
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{
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TopicManager::Instance()->Unsubscribe(this->topic, this->node);
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this->node->RemoveCallback(this->topic, this->callbackId);
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}
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}
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//////////////////////////////////////////////////
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void Subscriber::SetCallbackId(unsigned int _id)
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{
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this->callbackId = _id;
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}
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//////////////////////////////////////////////////
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unsigned int Subscriber::GetCallbackId() const
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{
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return this->callbackId;
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}
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