io_comm_mosaic::CallbackHandler_< T > Class Template Reference

Derived class operating on a mosaic message level. More...

#include <callbackhandlers.hpp>

Inheritance diagram for io_comm_mosaic::CallbackHandler_< T >:

Collaboration diagram for io_comm_mosaic::CallbackHandler_< T >:

Public Types
typedef boost::function< void(const T &)>	Callback

Public Member Functions
	CallbackHandler_ (const Callback &func=Callback())
virtual const T &	get ()
void	handle (mosaicMessage &mMessage)
Public Member Functions inherited from io_comm_mosaic::CallbackHandler
bool	wait (const boost::posix_time::time_duration &timeout)

Private Attributes
Callback	func_
T	message_

Additional Inherited Members
Protected Attributes inherited from io_comm_mosaic::CallbackHandler
boost::mutex	mutex_
boost::condition_variable	condition_

Detailed Description

template<typename T>
class io_comm_mosaic::CallbackHandler_< T >

Derived class operating on a mosaic message level.

Definition at line 119 of file callbackhandlers.hpp.

Member Typedef Documentation

Callback

template<typename T>

typedef boost::function<void(const T&)> io_comm_mosaic::CallbackHandler_< T >::Callback

Definition at line 121 of file callbackhandlers.hpp.

Constructor & Destructor Documentation

CallbackHandler_()

template<typename T>

io_comm_mosaic::CallbackHandler_< T >::CallbackHandler_ ( const Callback &  func = Callback() )

inline

Definition at line 123 of file callbackhandlers.hpp.

: func_(func) {}

Member Function Documentation

get()

template<typename T>

virtual const T& io_comm_mosaic::CallbackHandler_< T >::get ( )

inlinevirtual

Definition at line 125 of file callbackhandlers.hpp.

Referenced by io_comm_mosaic::CallbackHandlers::poll().

{ return message_; }

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handle()

template<typename T>

void io_comm_mosaic::CallbackHandler_< T >::handle ( mosaicMessage &  mMessage )

inlinevirtual

Implements io_comm_mosaic::CallbackHandler.

Definition at line 127 of file callbackhandlers.hpp.

References io_comm_mosaic::CallbackHandler::condition_, io_comm_mosaic::mosaicMessage::MessageID(), io_comm_mosaic::CallbackHandler::mutex_, and io_comm_mosaic::mosaicMessage::read().

                                                 {
                boost::mutex::scoped_lock lock(mutex_);
                try 
                {
                    if (!mMessage.read<T>(message_)) 
                    {
                        std::ostringstream ss;
                        ss << "Read unsuccessful: mosaic decoder error for message with ID (empty field if non-determinable" << mMessage.MessageID() << ". ";
                        ROS_INFO_COND(debug >= 2, "%s", ss.str().c_str());
                        condition_.notify_all();
                        return;
                    }
                } catch (std::runtime_error& e) 
                {
                    std::ostringstream ss;
                    ss << "Read unsuccessful: mosaic decoder error for message with ID " << mMessage.MessageID() << ".\nReason: " << e.what();
                    ROS_INFO_COND(debug >= 2, "%s", ss.str().c_str());
                    condition_.notify_all();
                    return;
                }
     
                if (func_) func_(message_); 
                condition_.notify_all();
            }

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Field Documentation

func_

template<typename T>

Callback io_comm_mosaic::CallbackHandler_< T >::func_

private

Definition at line 153 of file callbackhandlers.hpp.

message_

template<typename T>

T io_comm_mosaic::CallbackHandler_< T >::message_

private

Definition at line 154 of file callbackhandlers.hpp.

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The documentation for this class was generated from the following file:

• include/rosaic/communication/callbackhandlers.hpp