.. _program_listing_file_include_soar_ros_Subscriber.hpp:

Program Listing for File Subscriber.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_soar_ros_Subscriber.hpp>` (``include/soar_ros/Subscriber.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2024 Moritz Schmidt
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef SOAR_ROS__SUBSCRIBER_HPP_
   #define SOAR_ROS__SUBSCRIBER_HPP_
   
   #include <string>
   #include <rclcpp/rclcpp.hpp>
   
   #include "Interface.hpp"
   #include "SafeQueue.hpp"
   
   #include "sml_Client.h"
   
   namespace soar_ros
   {
   template<typename T>
   class Subscriber : public Input<T>, public Interface
   {
   protected:
     typename rclcpp::Subscription<T>::SharedPtr sub;
     std::string m_topic;
     rclcpp::Node::SharedPtr m_node;
     sml::Agent * m_pAgent;
   
   public:
     Subscriber(sml::Agent * agent, rclcpp::Node::SharedPtr node, const std::string & topic)
     : Input<T>(), m_topic(topic), m_node(node), m_pAgent(agent)
     {
       sub =
         m_node->create_subscription<T>(
         topic, 10,
         std::bind(&Subscriber::callback, this, std::placeholders::_1));
     }
     ~Subscriber() {}
   
     void callback(const T & msg)
     {
       RCLCPP_INFO(m_node->get_logger(), "Received subscription msg on %s", m_topic.c_str());
       this->m_r2sQueue.push(msg);
     }
   
     std::string getTopic() override
     {
       return m_topic;
     }
   
     sml::Agent * getAgent() override
     {
       return m_pAgent;
     }
   };
   }  // namespace soar_ros
   
   #endif  // SOAR_ROS__SUBSCRIBER_HPP_