Merge pull request #20 from ros/message_event

replace usage of __connection_header with MessageEvent (#17)
ros · Feb 14, 2014 · bbd06ca · bbd06ca
2 parents 1c62756 + 856fe22
commit bbd06ca
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Showing 3 changed files with 19 additions and 15 deletions.
diff --git a/include/actionlib/client/action_client.h b/include/actionlib/client/action_client.h
@@ -243,31 +243,37 @@ class ActionClient
   }
 
   template<class M, class T>
-  ros::Subscriber queue_subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr<M const>&), T* obj, ros::CallbackQueueInterface* queue)
+  ros::Subscriber queue_subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(const ros::MessageEvent<M const>&), T* obj, ros::CallbackQueueInterface* queue)
   {
     ros::SubscribeOptions ops;
-    ops.init<M>(topic, queue_size, boost::bind(fp, obj, _1));
-    ops.transport_hints = ros::TransportHints();
-    ops.callback_queue = queue;
+    ops.topic = topic;
+    ops.queue_size = queue_size;
+    ops.md5sum = ros::message_traits::md5sum<M>();
+    ops.datatype = ros::message_traits::datatype<M>();
+    ops.helper = ros::SubscriptionCallbackHelperPtr(
+      new ros::SubscriptionCallbackHelperT<const ros::MessageEvent<M const>& >(
+        boost::bind(fp, obj, _1)
+      )
+    );
     return n_.subscribe(ops);
   }
 
-  void statusCb(const actionlib_msgs::GoalStatusArrayConstPtr& status_array)
+  void statusCb(const ros::MessageEvent<actionlib_msgs::GoalStatusArray const>& status_array_event)
   {
     ROS_DEBUG_NAMED("actionlib", "Getting status over the wire.");
     if (connection_monitor_)
-      connection_monitor_->processStatus(status_array);
-    manager_.updateStatuses(status_array);
+      connection_monitor_->processStatus(status_array_event.getConstMessage(), status_array_event.getPublisherName());
+    manager_.updateStatuses(status_array_event.getConstMessage());
   }
 
-  void feedbackCb(const ActionFeedbackConstPtr& action_feedback)
+  void feedbackCb(const ros::MessageEvent<ActionFeedback const>& action_feedback)
   {
-    manager_.updateFeedbacks(action_feedback);
+    manager_.updateFeedbacks(action_feedback.getConstMessage());
   }
 
-  void resultCb(const ActionResultConstPtr& action_result)
+  void resultCb(const ros::MessageEvent<ActionResult const>& action_result)
   {
-    manager_.updateResults(action_result);
+    manager_.updateResults(action_result.getConstMessage());
   }
 };
 

diff --git a/include/actionlib/client/connection_monitor.h b/include/actionlib/client/connection_monitor.h
@@ -61,7 +61,7 @@ class ACTIONLIB_DECL ConnectionMonitor
 
   void cancelDisconnectCallback(const ros::SingleSubscriberPublisher& pub);
 
-  void processStatus(const actionlib_msgs::GoalStatusArrayConstPtr& status);
+  void processStatus(const actionlib_msgs::GoalStatusArrayConstPtr& status, const std::string& caller_id);
 
   bool waitForActionServerToStart(const ros::Duration& timeout = ros::Duration(0,0), const ros::NodeHandle& nh = ros::NodeHandle() );
   bool isServerConnected();

diff --git a/src/connection_monitor.cpp b/src/connection_monitor.cpp
@@ -162,12 +162,10 @@ string ConnectionMonitor::cancelSubscribersString()
 }
 
 // ********* GoalStatus Connections *********
-void ConnectionMonitor::processStatus(const actionlib_msgs::GoalStatusArrayConstPtr& status)
+void ConnectionMonitor::processStatus(const actionlib_msgs::GoalStatusArrayConstPtr& status, const std::string& cur_status_caller_id)
 {
   boost::recursive_mutex::scoped_lock lock(data_mutex_);
 
-  string cur_status_caller_id = (*(status->__connection_header))["callerid"];
-
   if (status_received_)
   {
     if (status_caller_id_ != cur_status_caller_id)