single_subscriber_publisher.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H 00029 #define ROSCPP_SINGLE_SUBSCRIBER_PUBLISHER_H 00030 00031 #include "ros/forwards.h" 00032 #include "ros/serialization.h" 00033 #include "common.h" 00034 00035 #include <boost/utility.hpp> 00036 00037 namespace ros 00038 { 00039 00043 class ROSCPP_DECL SingleSubscriberPublisher : public boost::noncopyable 00044 { 00045 public: 00046 SingleSubscriberPublisher(const SubscriberLinkPtr& link); 00047 ~SingleSubscriberPublisher(); 00048 00057 template<class M> 00058 void publish(const boost::shared_ptr<M const>& message) const 00059 { 00060 publish(*message); 00061 } 00062 00071 template<class M> 00072 void publish(const boost::shared_ptr<M>& message) const 00073 { 00074 publish(*message); 00075 } 00076 00080 template<class M> 00081 void publish(const M& message) const 00082 { 00083 using namespace serialization; 00084 SerializedMessage m = serializeMessage(message); 00085 publish(m); 00086 } 00087 00091 std::string getTopic() const; 00092 00096 std::string getSubscriberName() const; 00097 00098 private: 00099 void publish(const SerializedMessage& m) const; 00100 00101 SubscriberLinkPtr link_; 00102 }; 00103 00104 } 00105 00106 #endif // ROSCPP_PUBLISHER_HANDLE_H 00107