MIRA
ChannelContentChange.h
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38 
47 #ifndef _MIRA_CHANNELCONTENTCHANGE_H_
48 #define _MIRA_CHANNELCONTENTCHANGE_H_
49 
50 #include <fw/ChannelReadWrite.h>
51 #include <fw/Framework.h>
52 
53 namespace mira {
54 
56 
82 template <typename T>
84 {
85 public:
94  const std::string& channelID,
95  boost::function<void (ChannelRead<T>)> fn)
96  {
97  mFunction = fn;
98  return authority.subscribe<T>(channelID, &ChannelContentChange<T>::callback, this);
99  }
100 
104  template<typename Class>
106  const std::string& channelID,
107  void (Class::*f)(ChannelRead<T>), Class* obj)
108  {
109  return subscribe(authority, channelID, boost::bind(f, obj, _1));
110  }
111 
114  {
115  if (!mLast || *mLast == value->value())
116  mFunction(value);
117  mLast = value->value();
118  }
119 
120 private:
121  boost::function<void (ChannelRead<T>)> mFunction;
122  boost::optional<T> mLast;
123 };
124 
126 
127 }
128 
129 #endif
An exception that occurs whenever a channel has no data.
Definition: Channel.h:88
Class that can be registered as a filter when subscribing to channels to only get a callback when the...
Definition: ChannelContentChange.h:83
void callback(ChannelRead< T > value)
Called when channel has new data.
Definition: ChannelContentChange.h:113
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
Class object which supports some kind of class reflection.
Definition: Class.h:97
An object that allows read access to data of a channel.
Definition: ChannelReadWrite.h:440
Classes for automatic locking/unlocking when reading and writing to channels.
Authorities act as a facade to the framework.
Definition: Authority.h:94
Channel< T > subscribe(Authority &authority, const std::string &channelID, boost::function< void(ChannelRead< T >)> fn)
Call this instead of Authority::subscribe()
Definition: ChannelContentChange.h:93
Channel< T > subscribe(Authority &authority, const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj)
Same as above but with a function and object pointer.
Definition: ChannelContentChange.h:105
The framework that holds all manager classes and provides startup and shutdown of all framework relat...
Channel< T > subscribe(const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Subscribes authority to a given channel.