00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Ryohei Ueda and JSK Lab 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/o2r other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage 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 #ifndef MUX_NODELET_H_ 00036 #define MUX_NODELET_H_ 00037 00038 #include <nodelet/nodelet.h> 00039 #include <topic_tools/shape_shifter.h> 00040 00041 #include <topic_tools/MuxSelect.h> 00042 #include <topic_tools/MuxAdd.h> 00043 #include <topic_tools/MuxDelete.h> 00044 #include <topic_tools/MuxList.h> 00045 00046 namespace jsk_topic_tools 00047 { 00048 class MUX : public nodelet::Nodelet 00049 { 00050 public: 00051 typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent; 00052 virtual void onInit(); 00053 virtual bool selectTopicCallback(topic_tools::MuxSelect::Request &req, 00054 topic_tools::MuxSelect::Response &res); 00055 virtual bool addTopicCallback(topic_tools::MuxAdd::Request& req, 00056 topic_tools::MuxAdd::Response& res); 00057 virtual bool deleteTopicCallback(topic_tools::MuxDelete::Request& req, 00058 topic_tools::MuxDelete::Response& res); 00059 virtual bool listTopicCallback(topic_tools::MuxList::Request& req, 00060 topic_tools::MuxList::Response& res); 00061 virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg); 00062 protected: 00063 virtual void connectCb(const ros::SingleSubscriberPublisher& pub); 00064 virtual void subscribeSelectedTopic(); 00065 bool advertised_; 00066 bool subscribing_; 00067 std::vector<std::string> topics_; 00068 std::string selected_topic_; 00069 boost::shared_ptr<ros::Subscriber> sub_; 00070 ros::Publisher pub_selected_; 00071 ros::Publisher pub_; 00072 ros::NodeHandle pnh_; 00073 ros::TransportHints th_; 00074 ros::ServiceServer ss_select_, ss_add_, ss_list_, ss_del_; 00075 }; 00076 } 00077 00078 #endif