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Subscriber.hh
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1 /*
2  * Copyright (C) 2012-2014 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 
29 namespace gazebo
30 {
31  namespace transport
32  {
35 
38  class Subscriber
39  {
43  public: Subscriber(const std::string &_topic, NodePtr _node);
44 
46  public: virtual ~Subscriber();
47 
52  public: void SetCallbackId(unsigned int _id);
53 
58  public: unsigned int GetCallbackId() const;
59 
62  public: std::string GetTopic() const;
63 
65  public: void Unsubscribe() const;
66 
68  private: std::string topic;
69 
71  private: NodePtr node;
72 
74  private: unsigned int callbackId;
75  };
77  }
78 }
79 
80 #endif
81 
82