publisher_impl.h

Go to the documentation of this file.

#ifndef MESSAGE_TRANSPORT_PUBLISHER_IMPL_H
#define MESSAGE_TRANSPORT_PUBLISHER_IMPL_H

/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2009, Willow Garage, Inc.
*  All rights reserved.
* 
*  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, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#include "message_transport/publisher.h"
#include "message_transport/publisher_plugin.h"
#include <pluginlib/class_loader.h>
#include <boost/ptr_container/ptr_vector.hpp>
#include <boost/foreach.hpp>
#include <boost/algorithm/string/erase.hpp>

namespace message_transport {

        class PublisherImplGen
        {
                public:
                        PublisherImplGen(const std::string & topic) : 
                                base_topic_(topic), unadvertised_(false) { }

                        virtual ~PublisherImplGen()
                        {
                        }

                        virtual uint32_t getNumSubscribers() const = 0;
                        uint32_t getNumSubscribersBindable() const {
                                return this->getNumSubscribers();
                        }

                        std::string getTopic() const
                        {
                                return base_topic_;
                        }

                        bool isValid() const
                        {
                                return !unadvertised_;
                        }

                        void shutdown() {
                                this->shutdownImpl();
                        }

                        virtual void shutdownImpl() = 0;

                        template <class M>
                                void subscriberCB(const SingleSubscriberPublisher<M>& plugin_pub,
                                                const typename SingleSubscriberPublisher<M>::StatusCB& user_cb)
                                {
                                        SingleSubscriberPublisher<M> ssp(plugin_pub.getSubscriberName(), this->getTopic(),
                                                        boost::bind(&PublisherImplGen::getNumSubscribersBindable, this),
                                                        plugin_pub.publish_fn_);
                                        user_cb(ssp);
                                }

                        virtual std::vector<std::string> getDeclaredClasses() = 0;


                        template <class M>
                                void publish(const M& message) const;

                        template <class M>
                                void publish(const typename M::ConstPtr& message) const;

                protected :
                        std::string base_topic_;
                        bool unadvertised_;
                        //double constructed_;
        };

        template <class M>
        class PublisherImpl : public PublisherImplGen
        {
                public :
                        PublisherImpl(const std::string & topic, 
                                        const std::string & packageName,
                                        const std::string & className) : PublisherImplGen(topic),
                        loader_(packageName, 
                                                std::string("message_transport::PublisherPlugin<")+className+">")
                {
                }

                        virtual ~PublisherImpl() {
                                shutdownImpl();
                        }

                        virtual uint32_t getNumSubscribers() const
                        {
                                uint32_t count = 0;
                for (unsigned int i=0;i<publishers_.size();i++) {
                                        count += publishers_[i]->getNumSubscribers();
                }
                                return count;
                        }

                        virtual void shutdownImpl()
                        {
                                if (!unadvertised_) {
                                        unadvertised_ = true;
                    for (unsigned int i=0;i<publishers_.size();i++) {
                                                publishers_[i]->shutdown();
                    }
                                        publishers_.clear();
                                }
                        }

                        virtual std::vector<std::string> getDeclaredClasses() {
                                return loader_.getDeclaredClasses();
                        }

            boost::shared_ptr< PublisherPlugin<M> > addInstance(const std::string & name) {
#if ROS_VERSION_MINIMUM(1, 7, 0) // if current ros version is >= 1.7.0
                boost::shared_ptr< PublisherPlugin<M> > pub = loader_.createInstance(name);
#else
                boost::shared_ptr< PublisherPlugin<M> > pub(loader_.createClassInstance(name));
#endif
                                publishers_.push_back(pub);
                                return pub;
                        }

                        uint32_t getNumPublishers() const {
                                return publishers_.size();
                        }

                        void publish(const M& message) const {
                for (unsigned int i=0;i<publishers_.size();i++) {
                                        if (publishers_[i]->getNumSubscribers() > 0) {
                                                publishers_[i]->publish(message);
                                        }
                                }
                        }

                        void publish(const typename M::ConstPtr& message) const {
                for (unsigned int i=0;i<publishers_.size();i++) {
                                        if (publishers_[i]->getNumSubscribers() > 0) {
                                                publishers_[i]->publish(message);
                                        }
                                }
                        }
                protected:
                        pluginlib::ClassLoader< PublisherPlugin<M> > loader_;
            std::vector<boost::shared_ptr< PublisherPlugin<M> > > publishers_;
        };

        template <class M>
                void PublisherImplGen::publish(const M& message) const
                {
                        (dynamic_cast<const PublisherImpl<M>* const>(this))->publish(message);
                }

        template <class M>
                void PublisherImplGen::publish(const typename M::ConstPtr& message) const
                {
                        (dynamic_cast<const PublisherImpl<M>* const>(this))->publish(message);
                }
};
#endif // MESSAGE_TRANSPORT_PUBLISHER_IMPL_H