publisher.h

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/*
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 * $Id: publisher.h 43011 2010-08-12 20:30:23Z hsu $
 *
 */
#ifndef ROSMPI_PUBLISHER_H_
#define ROSMPI_PUBLISHER_H_

#include <boost/function.hpp>
#include <boost/bind.hpp>
// ROS
#include <ros/serialized_message.h>
#include <ros/serialization.h>
// OpenMPI
#include <mpi.h>

namespace rosmpi
{
  class Publisher
  {
    public:
      Publisher () {}
      ~Publisher ()
      {
      }

      template <typename M> void
        publish (const boost::shared_ptr<M> &message) const
      {
        ros::SerializedMessage m;
        m.type_info = &typeid (M);
        m.message   = message;
        publish (boost::bind (ros::serialization::serializeMessage<M>, boost::ref (*message)), m);
      }

      template <typename M> void
        publish (const M &message) const
      {
        ros::SerializedMessage m;
        publish (boost::bind (ros::serialization::serializeMessage<M>, boost::ref (message)), m);
      }

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

#endif  //#ifndef ROSMPI_PUBLISHER_H_