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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 // author: Jason Wolfe 00036 00037 00038 package ros.roscpp; 00039 00040 import ros.Publisher; 00041 import ros.RosException; 00042 import ros.communication.Message; 00043 00044 public class CppPublisher<M extends Message> implements Publisher<M> { 00045 private String topic; 00046 private M msgTemplate; 00047 private long cppPublisher; 00048 00049 private CppPublisher() {} 00050 00051 protected static <M extends Message> CppPublisher<M> create(long cppHandle, String topic, M msgTemplate, int queueSize, boolean latch) throws RosException { 00052 CppPublisher<M> that = new CppPublisher<M>(); 00053 that.topic = topic; 00054 that.msgTemplate = msgTemplate; 00055 that.cppPublisher = JNI.advertise(cppHandle, topic, msgTemplate, queueSize, latch); 00056 if (that.cppPublisher == 0) throw new RosException("Could not advertise topic " + topic); 00057 return that; 00058 } 00059 00060 public String getTopic() { return topic; } 00061 00062 public int getNumSubscribers() { 00063 return JNI.getNumSubscribers(cppPublisher); 00064 } 00065 00066 public void publish(M m) { 00067 if (cppPublisher == 0) throw new RuntimeException("This publication was already shutdown"); 00068 if (m.getClass() != msgTemplate.getClass()) throw new RuntimeException("This message does not match the advertised type."); 00069 JNI.publish(cppPublisher, m); 00070 } 00071 00072 public boolean isValid() { return (cppPublisher != 0) && JNI.isPublisherValid(cppPublisher);} 00073 00074 public void shutdown() { 00075 JNI.shutdownPublisher(cppPublisher); 00076 cppPublisher = 0; 00077 } 00078 }