polled_camera: publication_server.h Source File

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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