/usr/include/message_filters/signal1.h is in libmessage-filters-dev 1.11.16-3.
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#ifndef MESSAGE_FILTERS_SIGNAL1_H
#define MESSAGE_FILTERS_SIGNAL1_H
#include <boost/noncopyable.hpp>
#include "connection.h"
#include <ros/message_event.h>
#include <ros/parameter_adapter.h>
#include <boost/bind.hpp>
#include <boost/thread/mutex.hpp>
namespace message_filters
{
template<class M>
class CallbackHelper1
{
public:
virtual ~CallbackHelper1() {}
virtual void call(const ros::MessageEvent<M const>& event, bool nonconst_need_copy) = 0;
typedef boost::shared_ptr<CallbackHelper1<M> > Ptr;
};
template<typename P, typename M>
class CallbackHelper1T : public CallbackHelper1<M>
{
public:
typedef ros::ParameterAdapter<P> Adapter;
typedef boost::function<void(typename Adapter::Parameter)> Callback;
typedef typename Adapter::Event Event;
CallbackHelper1T(const Callback& cb)
: callback_(cb)
{
}
virtual void call(const ros::MessageEvent<M const>& event, bool nonconst_force_copy)
{
Event my_event(event, nonconst_force_copy || event.nonConstWillCopy());
callback_(Adapter::getParameter(my_event));
}
private:
Callback callback_;
};
template<class M>
class Signal1
{
typedef boost::shared_ptr<CallbackHelper1<M> > CallbackHelper1Ptr;
typedef std::vector<CallbackHelper1Ptr> V_CallbackHelper1;
public:
template<typename P>
CallbackHelper1Ptr addCallback(const boost::function<void(P)>& callback)
{
CallbackHelper1T<P, M>* helper = new CallbackHelper1T<P, M>(callback);
boost::mutex::scoped_lock lock(mutex_);
callbacks_.push_back(CallbackHelper1Ptr(helper));
return callbacks_.back();
}
void removeCallback(const CallbackHelper1Ptr& helper)
{
boost::mutex::scoped_lock lock(mutex_);
typename V_CallbackHelper1::iterator it = std::find(callbacks_.begin(), callbacks_.end(), helper);
if (it != callbacks_.end())
{
callbacks_.erase(it);
}
}
void call(const ros::MessageEvent<M const>& event)
{
boost::mutex::scoped_lock lock(mutex_);
bool nonconst_force_copy = callbacks_.size() > 1;
typename V_CallbackHelper1::iterator it = callbacks_.begin();
typename V_CallbackHelper1::iterator end = callbacks_.end();
for (; it != end; ++it)
{
const CallbackHelper1Ptr& helper = *it;
helper->call(event, nonconst_force_copy);
}
}
private:
boost::mutex mutex_;
V_CallbackHelper1 callbacks_;
};
} // message_filters
#endif // MESSAGE_FILTERS_SIGNAL1_H
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