publication_server.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 * 
00004 *  Copyright (c) 2009, Willow Garage, Inc.
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/or 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 POLLED_CAMERA_PUBLICATION_SERVER_H
00036 #define POLLED_CAMERA_PUBLICATION_SERVER_H
00037 
00038 #include <ros/ros.h>
00039 #include <sensor_msgs/Image.h>
00040 #include <sensor_msgs/CameraInfo.h>
00041 #include "polled_camera/GetPolledImage.h"
00042 
00043 namespace polled_camera {
00044 
00066 class PublicationServer
00067 {
00068 public:
00069   typedef boost::function<void (polled_camera::GetPolledImage::Request&,
00070                                 polled_camera::GetPolledImage::Response&,
00071                                 sensor_msgs::Image&,
00072                                 sensor_msgs::CameraInfo&)> DriverCallback;
00073   
00074   PublicationServer() {}
00075 
00079   void shutdown();
00080 
00081   std::string getService() const;
00082 
00083   operator void*() const;
00084   bool operator< (const PublicationServer& rhs) const { return impl_ <  rhs.impl_; }
00085   bool operator==(const PublicationServer& rhs) const { return impl_ == rhs.impl_; }
00086   bool operator!=(const PublicationServer& rhs) const { return impl_ != rhs.impl_; }
00087 
00088 private:
00089   PublicationServer(const std::string& service, ros::NodeHandle& nh,
00090                     const DriverCallback& cb, const ros::VoidPtr& tracked_object);
00091 
00092   class Impl;
00093 
00094   boost::shared_ptr<Impl> impl_;
00095 
00096   friend
00097   PublicationServer advertise(ros::NodeHandle&, const std::string&, const DriverCallback&,
00098                               const ros::VoidPtr&);
00099 };
00100 
00104 PublicationServer advertise(ros::NodeHandle& nh, const std::string& service,
00105                             const PublicationServer::DriverCallback& cb,
00106                             const ros::VoidPtr& tracked_object = ros::VoidPtr());
00107 
00111 template<class T>
00112 PublicationServer advertise(ros::NodeHandle& nh, const std::string& service,
00113                             void(T::*fp)(polled_camera::GetPolledImage::Request&,
00114                                          polled_camera::GetPolledImage::Response&,
00115                                          sensor_msgs::Image&, sensor_msgs::CameraInfo&),
00116                             T* obj)
00117 {
00118   return advertise(nh, service, boost::bind(fp, obj, _1, _2, _3, _4));
00119 }
00120 
00124 template<class T>
00125 PublicationServer advertise(ros::NodeHandle& nh, const std::string& service,
00126                             void(T::*fp)(polled_camera::GetPolledImage::Request&,
00127                                          polled_camera::GetPolledImage::Response&,
00128                                          sensor_msgs::Image&, sensor_msgs::CameraInfo&),
00129                             const boost::shared_ptr<T>& obj)
00130 {
00131   return advertise(nh, service, boost::bind(fp, obj.get(), _1, _2, _3, _4), obj);
00132 }
00133 
00134 } //namespace polled_camera
00135 
00136 #endif


polled_camera
Author(s): Patrick Mihelich
autogenerated on Mon Oct 6 2014 00:42:46