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 _SUBSCRIBER_HH_
22 #define _SUBSCRIBER_HH_
23 
24 #include <string>
25 #include <boost/shared_ptr.hpp>
26 
28 #include "gazebo/util/system.hh"
29 
30 namespace 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 
Forward declarations for the common classes.
Definition: Animation.hh:33
A subscriber to a topic.
Definition: Subscriber.hh:39
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57