connection_based_nodelet.h

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// -*- mode: c++ -*-
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#ifndef CONNECTION_BASED_NODELET_H_
#define CONNECTION_BASED_NODELET_H_

#include <ros/ros.h>
#include <nodelet/nodelet.h>
#include <boost/thread.hpp>

namespace jsk_topic_tools
{
  //class ConnectionBasedNodelet: public pcl_ros::PCLNodelet
  class ConnectionBasedNodelet: public nodelet::Nodelet
  {
  public:
    ConnectionBasedNodelet(): subscribed_(false) { }
  protected:
    virtual void onInit();
    virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub);
    virtual void subscribe() = 0;
    virtual void unsubscribe() = 0;
    
    template<class T> ros::Publisher
    advertise(ros::NodeHandle& nh,
              std::string topic, int queue_size)
    {
      ros::SubscriberStatusCallback connect_cb
        = boost::bind( &ConnectionBasedNodelet::connectionCallback, this, _1);
      ros::SubscriberStatusCallback disconnect_cb
        = boost::bind( &ConnectionBasedNodelet::connectionCallback, this, _1);
      ros::Publisher ret = nh.advertise<T>(topic, queue_size,
                                           connect_cb,
                                           disconnect_cb);
      publishers_.push_back(ret);
      return ret;
    }
    
    boost::mutex connection_mutex_;
    std::vector<ros::Publisher> publishers_;
    boost::shared_ptr<ros::NodeHandle> pnh_;
    bool subscribed_;
  private:
    
  };
}

#endif