Subscriber.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/* Desc: Handles a subscription to a topic
18 * Author: Nate Koenig
19 */
20
21#ifndef GAZEBO_TRANSPORT_SUBSCRIBER_HH_
22#define GAZEBO_TRANSPORT_SUBSCRIBER_HH_
23
24#include <string>
25#include <boost/shared_ptr.hpp>
26
28#include "gazebo/util/system.hh"
29
30namespace gazebo
31{
32 namespace transport
33 {
36
39 class GZ_TRANSPORT_VISIBLE Subscriber
40 {
44 public: Subscriber(const std::string &_topic, NodePtr _node);
45
47 public: virtual ~Subscriber();
48
53 public: void SetCallbackId(unsigned int _id);
54
59 public: unsigned int GetCallbackId() const;
60
63 public: std::string GetTopic() const;
64
66 public: void Unsubscribe() const;
67
69 private: std::string topic;
70
72 private: NodePtr node;
73
75 private: unsigned int callbackId;
76 };
78 }
79}
80
81#endif
82
83
transport
Definition ConnectionManager.hh:35
A subscriber to a topic.
Definition Subscriber.hh:40
void SetCallbackId(unsigned int _id)
unsigned int GetCallbackId() const
virtual ~Subscriber()
Destructor.
void Unsubscribe() const
Unsubscribe from the topic.
Subscriber(const std::string &_topic, NodePtr _node)
Constructor.
std::string GetTopic() const
Get the topic name.
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27