Clean RosImport class.

src/ros_import.cpp

@@ -26,19 +26,6 @@ namespace dynamicgraph
     free (arg0);
 
     nh_ = ros::NodeHandle ("dynamic_graph");
-
-    //ros::Publisher blob_pub = n.advertise<hueblob::Blob>("blob", 1000);
-
-    // ros::Rate loop_rate(10);
-
-    // while (ros::ok())
-    //   {
-    // 	hueblob::Blob blob;
-    // 	blob_pub.publish(blob);
-
-    // 	ros::spinOnce();
-    // 	loop_rate.sleep();
-    //   }
   }
 
   RosImport::~RosImport ()
@@ -54,13 +41,17 @@ namespace dynamicgraph
 			       std::istringstream& cmdArgs,
 			       std::ostream& os)
   {
+    std::string type;
     std::string signal;
     std::string topic;
 
     if (cmdLine == "help")
       {
 	os << "RosImport: "<< std::endl
-	   << "  - add <SIGNAL> <TOPIC>" << std::endl;
+	   << "  - add <TYPE> <SIGNAL> <TOPIC>" << std::endl
+	   << "  - rm <SIGNAL>" << std::endl
+	   << "  - clear" << std::endl
+	   << "  - list" << std::endl;
 	Entity::commandLine (cmdLine, cmdArgs, os);
       }
     else if (cmdLine == "add")
@@ -70,8 +61,8 @@ namespace dynamicgraph
       }
     else if (cmdLine == "rm")
       {
-	cmdArgs >> signal >> topic;
-	rm (signal, topic);
+	cmdArgs >> signal;
+	rm (signal);
       }
     else if (cmdLine == "clear")
       clear ();
@@ -86,8 +77,9 @@ namespace dynamicgraph
     return CLASS_NAME;
   }
 
-  void RosImport::rm (const std::string& signal, const std::string& topic)
+  void RosImport::rm (const std::string& signal)
   {
+    bindedSignal_.erase (signal);
   }
 
   void RosImport::list ()

src/ros_import.hh

@@ -9,34 +9,14 @@
 
 # include <ros/ros.h>
 
-
-//FIXME: remove me.
-#include <std_msgs/Float64.h>
-
-template <typename SotType>
-class SotToRos;
-
-template <>
-struct SotToRos<double>
-{
-  typedef double sot_t;
-  typedef std_msgs::Float64 ros_t;
-  typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
-  typedef boost::function<sot_t& (sot_t&, int)> callback_t;
-};
-
 namespace dynamicgraph
 {
+  template <typename SotType>
+  class SotToRos;
+
   template <typename D, typename S>
   void converter (D& dst, const S& src);
 
-  template <>
-  void converter (SotToRos<double>::ros_t& dst,
-		  const SotToRos<double>::sot_t& src)
-  {
-    dst.data = src;
-  }
-
   class RosImport : public dynamicgraph::Entity
   {
   public:
@@ -56,57 +36,25 @@ namespace dynamicgraph
 		 std::ostream& os);
 
 
-    virtual const std::string& getClassName();
+    virtual const std::string& getClassName ();
 
   private:
     void add (const std::string& signal, const std::string& topic);
-    void rm (const std::string& signal, const std::string& topic);
+    void rm (const std::string& signal);
     void list ();
     void clear ();
 
     template <typename T>
-    T& sendData (boost::shared_ptr<ros::Publisher> publisher, T& data, int time)
-    {
-      typename SotToRos<T>::ros_t result;
-      converter (result, data);
-      publisher->publish (result);
-      return data;
-    }
+    T& sendData (boost::shared_ptr<ros::Publisher> publisher,
+		 T& data, int time);
 
     template <typename T>
-    void add (const std::string& signal, const std::string& topic)
-    {
-      typedef typename SotToRos<T>::sot_t sot_t;
-      typedef typename SotToRos<T>::ros_t ros_t;
-      typedef typename SotToRos<T>::signal_t signal_t;
-      typedef typename SotToRos<T>::callback_t callback_t;
-
-      // Initialize the bindedSignal object.
-      bindedSignal_t bindedSignal;
-
-      // Initialize the publisher.
-      bindedSignal.second =
-	boost::make_shared<ros::Publisher> (nh_.advertise<ros_t>(topic, 1));
-
-      // Initialize the signal.
-      boost::format signalName ("RosImport(%1%)::%2%");
-      signalName % name % signal;
-
-      callback_t signalCallback = boost::bind
-	(&RosImport::sendData<sot_t>, this, bindedSignal.second, _1, _2);
-
-      bindedSignal.first = boost::make_shared<signal_t>
-	(signalCallback, sotNOSIGNAL, signalName.str ());
-      signalRegistration (*bindedSignal.first);
-
-      bindedSignal_.push_back(bindedSignal);
-    }
-
+    void add (const std::string& signal, const std::string& topic);
 
     ros::NodeHandle nh_;
-
-    std::vector<bindedSignal_t> bindedSignal_;
+    std::map<std::string, bindedSignal_t> bindedSignal_;
   };
 } // end of namespace dynamicgraph.
 
+# include "ros_import.hxx"
 #endif //! DYNAMIC_GRAPH_ROS_IMPORT_HH

src/ros_import.hxx

+#ifndef DYNAMIC_GRAPH_ROS_IMPORT_HXX
+# define DYNAMIC_GRAPH_ROS_IMPORT_HXX
+# include <std_msgs/Float64.h>
+
+namespace dynamicgraph
+{
+  template <>
+  struct SotToRos<double>
+  {
+    typedef double sot_t;
+    typedef std_msgs::Float64 ros_t;
+    typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
+    typedef boost::function<sot_t& (sot_t&, int)> callback_t;
+  };
+
+  template <>
+  void converter (SotToRos<double>::ros_t& dst,
+		  const SotToRos<double>::sot_t& src)
+  {
+    dst.data = src;
+  }
+
+  template <typename T>
+  T&
+  RosImport::sendData (boost::shared_ptr<ros::Publisher> publisher,
+		       T& data, int time)
+  {
+    typename SotToRos<T>::ros_t result;
+    converter (result, data);
+    publisher->publish (result);
+    return data;
+  }
+
+  template <typename T>
+  void RosImport::add (const std::string& signal, const std::string& topic)
+  {
+    typedef typename SotToRos<T>::sot_t sot_t;
+    typedef typename SotToRos<T>::ros_t ros_t;
+    typedef typename SotToRos<T>::signal_t signal_t;
+    typedef typename SotToRos<T>::callback_t callback_t;
+
+    // Initialize the bindedSignal object.
+    bindedSignal_t bindedSignal;
+
+    // Initialize the publisher.
+    bindedSignal.second =
+      boost::make_shared<ros::Publisher> (nh_.advertise<ros_t>(topic, 1));
+
+    // Initialize the signal.
+    boost::format signalName ("RosImport(%1%)::%2%");
+    signalName % name % signal;
+
+    callback_t signalCallback = boost::bind
+      (&RosImport::sendData<sot_t>, this, bindedSignal.second, _1, _2);
+
+    bindedSignal.first = boost::make_shared<signal_t>
+      (signalCallback, sotNOSIGNAL, signalName.str ());
+    signalRegistration (*bindedSignal.first);
+
+    bindedSignal_[signal] = bindedSignal;
+  }
+
+} // end of namespace dynamicgraph.
+
+#endif //! DYNAMIC_GRAPH_ROS_IMPORT_HXX