84 lines
2.3 KiB
C++
84 lines
2.3 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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#ifndef _SUBSCRIBER_HH_
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#define _SUBSCRIBER_HH_
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#include <string>
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#include <boost/shared_ptr.hpp>
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#include "gazebo/transport/CallbackHelper.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace transport
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{
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/// \addtogroup gazebo_transport
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/// \{
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/// \class Subscriber Subscriber.hh transport/transport.hh
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/// \brief A subscriber to a topic
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class GZ_TRANSPORT_VISIBLE Subscriber
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{
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/// \brief Constructor
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/// \param[in] _topic The topic we're subscribing to
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/// \param[in] _node The associated node
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public: Subscriber(const std::string &_topic, NodePtr _node);
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/// \brief Destructor
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public: virtual ~Subscriber();
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/// \internal
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/// \brief Set the ID of the callback which is associated with this
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/// subscriber. This function should only be used by Node.hh
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/// \param[in] _id ID of the callback
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public: void SetCallbackId(unsigned int _id);
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/// \internal
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/// \brief Get the ID of the callback which is associated with this
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/// subscriber. This function should only be used by Node.hh
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/// \return ID of the callback
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public: unsigned int GetCallbackId() const;
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/// \brief Get the topic name
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/// \return The topic name
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public: std::string GetTopic() const;
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/// \brief Unsubscribe from the topic
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public: void Unsubscribe() const;
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/// \brief Topic this object is subscribe to.
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private: std::string topic;
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/// \brief Node which handles communication.
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private: NodePtr node;
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/// \brief Id of the callback associated with this object.
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private: unsigned int callbackId;
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};
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/// \}
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}
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}
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#endif
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