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 IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER 00036 #define IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER 00037 00038 #include <boost/noncopyable.hpp> 00039 #include <boost/function.hpp> 00040 #include <sensor_msgs/Image.h> 00041 00042 namespace image_transport { 00043 00048 class SingleSubscriberPublisher : boost::noncopyable 00049 { 00050 public: 00051 typedef boost::function<uint32_t()> GetNumSubscribersFn; 00052 typedef boost::function<void(const sensor_msgs::Image&)> PublishFn; 00053 00054 SingleSubscriberPublisher(const std::string& caller_id, const std::string& topic, 00055 const GetNumSubscribersFn& num_subscribers_fn, 00056 const PublishFn& publish_fn); 00057 00058 std::string getSubscriberName() const; 00059 00060 std::string getTopic() const; 00061 00062 uint32_t getNumSubscribers() const; 00063 00064 void publish(const sensor_msgs::Image& message) const; 00065 void publish(const sensor_msgs::ImageConstPtr& message) const; 00066 00067 private: 00068 std::string caller_id_; 00069 std::string topic_; 00070 GetNumSubscribersFn num_subscribers_fn_; 00071 PublishFn publish_fn_; 00072 00073 friend class Publisher; // to get publish_fn_ directly 00074 }; 00075 00076 typedef boost::function<void(const SingleSubscriberPublisher&)> SubscriberStatusCallback; 00077 00078 } //namespace image_transport 00079 00080 #endif