publisher.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
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 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSCPP_PUBLISHER_HANDLE_H
#define ROSCPP_PUBLISHER_HANDLE_H

#include "ros/forwards.h"
#include "ros/common.h"
#include "ros/message.h"
#include "ros/serialization.h"
#include <boost/bind.hpp>

namespace ros
{

class Publisher
{
public:
  Publisher() {}
  Publisher(const Publisher& rhs);
  ~Publisher();

  template<typename M>
  void publish(const boost::shared_ptr<M>& message) const
  {
    using namespace serialization;

    if (!impl_)
    {
      ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
      return;
    }

    if (!impl_->isValid())
    {
      ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
      return;
    }

    ROS_ASSERT_MSG(impl_->md5sum_ != "*" || impl_->md5sum_ == mt::md5sum<M>(*message), "Trying to publish message of type [%s/%s] on a publisher with type [%s/%s]",
                   impl_->datatype_.c_str(), impl_->md5sum_.c_str(), mt::datatype<M>(*message), mt::md5sum<M>(*message));

    SerializedMessage m;
    m.type_info = &typeid(M);
    m.message = message;

    publish(boost::bind(serializeMessage<M>, boost::ref(*message)), m);
  }

  template<typename M>
  void publish(const M& message) const
  {
    using namespace serialization;
    namespace mt = ros::message_traits;

    if (!impl_)
    {
      ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
      return;
    }

    if (!impl_->isValid())
    {
      ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
      return;
    }

    ROS_ASSERT_MSG(impl_->md5sum_ != "*" || impl_->md5sum_ == mt::md5sum<M>(message), "Trying to publish message of type [%s/%s] on a publisher with type [%s/%s]",
                   impl_->datatype_.c_str(), impl_->md5sum_.c_str(), mt::datatype<M>(message), mt::md5sum<M>(message));

    SerializedMessage m;
    publish(boost::bind(serializeMessage<M>, boost::ref(message)), m);
  }

  void shutdown();

  std::string getTopic() const;

  uint32_t getNumSubscribers() const;

  bool isLatched() const;

  operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }

  bool operator<(const Publisher& rhs) const
  {
    return impl_ < rhs.impl_;
  }

  bool operator==(const Publisher& rhs) const
  {
    return impl_ == rhs.impl_;
  }

  bool operator!=(const Publisher& rhs) const
  {
    return impl_ != rhs.impl_;
  }

private:
  Publisher(const std::string& topic, const std::string& md5sum, const std::string& datatype, const NodeHandle& node_handle, const SubscriberCallbacksPtr& callbacks);

  void publish(const boost::function<SerializedMessage(void)>& serfunc, SerializedMessage& m) const;
  void incrementSequence() const;

  class Impl
  {
  public:
    Impl();
    ~Impl();

    void unadvertise();
    bool isValid() const;

    std::string topic_;
    std::string md5sum_;
    std::string datatype_;
    NodeHandlePtr node_handle_;
    SubscriberCallbacksPtr callbacks_;
    bool unadvertised_;
    double constructed_;
  };
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;

  ImplPtr impl_;

  friend class NodeHandle;
  friend class NodeHandleBackingCollection;
};
typedef std::vector<Publisher> V_Publisher;

}

#endif // ROSCPP_PUBLISHER_HANDLE_H

---

roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com
autogenerated on Fri Jan 11 10:08:09 2013