Source: lib/subscription.js

  1. // Copyright (c) 2017 Intel Corporation. All rights reserved.
  2. //
  3. // Licensed under the Apache License, Version 2.0 (the "License");
  4. // you may not use this file except in compliance with the License.
  5. // You may obtain a copy of the License at
  6. //
  7. //     http://www.apache.org/licenses/LICENSE-2.0
  8. //
  9. // Unless required by applicable law or agreed to in writing, software
  10. // distributed under the License is distributed on an "AS IS" BASIS,
  11. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  12. // See the License for the specific language governing permissions and
  13. // limitations under the License.
  15. 'use strict';
  17. const rclnodejs = require('bindings')('rclnodejs');
  18. const Entity = require('./entity.js');
  19. const debug = require('debug')('rclnodejs:subscription');
  21. /**
  22.  * @class - Class representing a Subscription in ROS
  23.  * @hideconstructor
  24.  */
  26. class Subscription extends Entity {
  27.   constructor(handle, typeClass, topic, options, callback) {
  28.     super(handle, typeClass, options);
  29.     this._topic = topic;
  30.     this._callback = callback;
  31.   }
  33.   processResponse(msg) {
  34.     this._message = new this._typeClass();
  35.     this._message.deserialize(msg);
  36.     debug(`Message of topic ${this._topic} received.`);
  37.     this._callback(this._message.toPlainObject(this.typedArrayEnabled));
  38.   }
  40.   static createSubscription(nodeHandle, typeClass, topic, options, callback) {
  41.     let type = typeClass.type();
  42.     let handle = rclnodejs.createSubscription(
  43.       nodeHandle, type.pkgName, type.subFolder, type.interfaceName, topic, options.qos);
  44.     return new Subscription(handle, typeClass, topic, options, callback);
  45.   }
  47.   /**
  48.    * @type {string}
  49.    */
  50.   get topic() {
  51.     return this._topic;
  52.   }
  53. };
  55. module.exports = Subscription;