/usr/include/image_transport/simple_subscriber_plugin.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_SIMPLE_SUBSCRIBER_PLUGIN_H
#define IMAGE_TRANSPORT_SIMPLE_SUBSCRIBER_PLUGIN_H
#include "image_transport/subscriber_plugin.h"
#include <boost/scoped_ptr.hpp>
namespace image_transport {
/**
* \brief Base class to simplify implementing most plugins to Subscriber.
*
* The base class simplifies implementing a SubscriberPlugin in the common case that
* all communication with the matching PublisherPlugin happens over a single ROS
* topic using a transport-specific message type. SimpleSubscriberPlugin is templated
* on the transport-specific message type.
*
* A subclass need implement only two methods:
* - getTransportName() from SubscriberPlugin
* - internalCallback() - processes a message and invoked the user Image callback if
* appropriate.
*
* For access to the parameter server and name remappings, use nh().
*
* getTopicToSubscribe() controls the name of the internal communication topic. It
* defaults to \<base topic\>/\<transport name\>.
*/
template <class M>
class SimpleSubscriberPlugin : public SubscriberPlugin
{
public:
virtual ~SimpleSubscriberPlugin() {}
virtual std::string getTopic() const
{
if (simple_impl_) return simple_impl_->sub_.getTopic();
return std::string();
}
virtual uint32_t getNumPublishers() const
{
if (simple_impl_) return simple_impl_->sub_.getNumPublishers();
return 0;
}
virtual void shutdown()
{
if (simple_impl_) simple_impl_->sub_.shutdown();
}
protected:
/**
* \brief Process a message. Must be implemented by the subclass.
*
* @param message A message from the PublisherPlugin.
* @param user_cb The user Image callback to invoke, if appropriate.
*/
virtual void internalCallback(const typename M::ConstPtr& message, const Callback& user_cb) = 0;
/**
* \brief Return the communication topic name for a given base topic.
*
* Defaults to \<base topic\>/\<transport name\>.
*/
virtual std::string getTopicToSubscribe(const std::string& base_topic) const
{
return base_topic + "/" + getTransportName();
}
virtual void subscribeImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
const Callback& callback, const ros::VoidPtr& tracked_object,
const TransportHints& transport_hints)
{
// Push each group of transport-specific parameters into a separate sub-namespace
ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
simple_impl_.reset(new SimpleSubscriberPluginImpl(param_nh));
simple_impl_->sub_ = nh.subscribe<M>(getTopicToSubscribe(base_topic), queue_size,
boost::bind(&SimpleSubscriberPlugin::internalCallback, this, _1, callback),
tracked_object, transport_hints.getRosHints());
}
/**
* \brief Returns the ros::NodeHandle to be used for parameter lookup.
*/
const ros::NodeHandle& nh() const
{
return simple_impl_->param_nh_;
}
private:
struct SimpleSubscriberPluginImpl
{
SimpleSubscriberPluginImpl(const ros::NodeHandle& nh)
: param_nh_(nh)
{
}
const ros::NodeHandle param_nh_;
ros::Subscriber sub_;
};
boost::scoped_ptr<SimpleSubscriberPluginImpl> simple_impl_;
};
} //namespace image_transport
#endif
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