entry_subscriber.h

/*
 * Copyright (c) 2015-2016, Thomas Keh
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once

#include "device.h"
#include "subscriber.h"
#include "ros/ros.h"

#include "std_msgs/UInt8.h"
#include "std_msgs/UInt16.h"
#include "std_msgs/UInt32.h"
#include "std_msgs/Int8.h"
#include "std_msgs/Int16.h"
#include "std_msgs/Int32.h"
#include "std_msgs/Bool.h"
#include "std_msgs/String.h"
 
#include <string>
#include <thread>

namespace kaco {

    class EntrySubscriber : public Subscriber {

    public:

        EntrySubscriber(Device& device, const std::string& entry_name, const WriteAccessMethod access_method = WriteAccessMethod::use_default);

        void advertise() override;

    private:

        void receive_uint8(const std_msgs::UInt8& msg);
        void receive_uint16(const std_msgs::UInt16& msg);
        void receive_uint32(const std_msgs::UInt32& msg);
        void receive_int8(const std_msgs::Int8& msg);
        void receive_int16(const std_msgs::Int16& msg);
        void receive_int32(const std_msgs::Int32& msg);
        void receive_boolean(const std_msgs::Bool& msg);
        void receive_string(const std_msgs::String& msg);

        static const bool debug = false;

        // TODO: let the user change this?
        static const unsigned queue_size = 10000;

        ros::Subscriber m_subscriber;
        std::string m_device_prefix;
        std::string m_name;

        Device& m_device;
        std::string m_entry_name;
        WriteAccessMethod m_access_method;
        Type m_type;

    };

} // end namespace kaco