block_nodelet.cpp

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#include <pluginlib/class_list_macros.h>
#include "jsk_topic_tools/block_nodelet.h"

#include <ros/advertise_options.h>

namespace jsk_topic_tools
{

  
  
  void Block::onInit()
  {
    pnh_ = getPrivateNodeHandle();
    pub_input_original_advertised_ = pub_output_advertised_ = false;
    sub_input_subscribing_ = sub_output_original_subscribing_ = false;
    pnh_.param("check_rate", check_rate_, 1.0); // defaults to 1Hz
    sub_input_
      = pnh_.subscribe<topic_tools::ShapeShifter>("input", 1,
                                                  &Block::inputCallback,
                                                  this);
    sub_output_original_
      = pnh_.subscribe<topic_tools::ShapeShifter>(
        "output_original", 1,
        &Block::outputOriginalCallback,
        this);
    timer_ = pnh_.createTimer(ros::Duration(1 / check_rate_),
                             &Block::timerCallback, this);
  }

  void Block::timerCallback(const ros::TimerEvent& event)
  {
    NODELET_DEBUG("timerCallback");
    if (pub_input_original_advertised_ && pub_output_advertised_) {
      // if the publishers are not advertised, we need to wait until
      // the subscribers get the first messages

      // next, check the number of the publisher
      if (pub_output_.getNumSubscribers() > 0) {
        NODELET_DEBUG("subscribe input");
        // we need to run all the subscribers
        if (!sub_input_subscribing_) {
          sub_input_ = pnh_.subscribe<topic_tools::ShapeShifter>(
            "input", 1,
            &Block::inputCallback,
            this);
          sub_input_subscribing_ = true;
        }
        if (!sub_output_original_subscribing_) {
          NODELET_DEBUG("subscribe output original");
          sub_output_original_
            = pnh_.subscribe<topic_tools::ShapeShifter>(
              "output_original", 1,
              &Block::outputOriginalCallback,
              this);
          sub_output_original_subscribing_ = true;
        }
      }
      else {
        // we need to shutdown the subscribers
        if (sub_input_subscribing_) {
          NODELET_DEBUG("shutdown input");
          sub_input_.shutdown();
          sub_input_subscribing_ = false;
        }
        if (sub_output_original_subscribing_) {
          NODELET_DEBUG("shutdown output_original");
          sub_output_original_.shutdown();
          sub_output_original_subscribing_ = false;
        }
      }
    }
  }
  
  void Block::inputCallback(
    const boost::shared_ptr<topic_tools::ShapeShifter const>& msg)
  {
    NODELET_DEBUG("inputCallback");
    // first we need to check is the publisher is advertised or not
    if (!pub_input_original_advertised_) {
      NODELET_DEBUG("advertise input_original");
      pub_input_original_ = msg->advertise(pnh_, "input_original", 1);
      pub_input_original_advertised_ = true;
      // shutdown subscriber
      if (pub_output_advertised_) {
        NODELET_DEBUG("shutdown input");
        sub_input_.shutdown();
      }
      else {
        NODELET_DEBUG("publish input_original");
        pub_input_original_.publish(msg);
      }
    }
    else {
      NODELET_DEBUG("publish input_original");
      pub_input_original_.publish(msg);
    }
  }

  void Block::outputOriginalCallback(
    const boost::shared_ptr<topic_tools::ShapeShifter const>& msg)
  {
    NODELET_DEBUG("outputOriginalCallback");
    // first we need to check is the publisher is advertised or not
    if (!pub_output_advertised_) {
      NODELET_DEBUG("advertise output");;
      pub_output_ = msg->advertise(pnh_, "output", 1);
      pub_output_advertised_ = true;
      // shutdown subscriber
      sub_output_original_.shutdown();
      if (pub_input_original_advertised_) {
        NODELET_DEBUG("shutdown input");
        sub_input_.shutdown();
      }
      else {
        NODELET_DEBUG("publish output");
        pub_output_.publish(msg);
      }
    }
    else {
      NODELET_DEBUG("publish output");
      pub_output_.publish(msg);
    }
  }  
}

typedef jsk_topic_tools::Block Block;
PLUGINLIB_EXPORT_CLASS(Block, nodelet::Nodelet)