LaserProcROS.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* 
 * Author: Chad Rockey
 */

#include <laser_proc/LaserProcROS.h>

using namespace laser_proc;
  
LaserProcROS::LaserProcROS(ros::NodeHandle& n, ros::NodeHandle& pnh):nh_(n){
  boost::mutex::scoped_lock lock(connect_mutex_);
  
  // Lazy subscription to multi echo topic
  pub_ = laser_proc::LaserTransport::advertiseLaser(n, 10, boost::bind(&LaserProcROS::connectCb, this, _1), boost::bind(&LaserProcROS::disconnectCb, this, _1), ros::VoidPtr(), false, false);
}

LaserProcROS::~LaserProcROS(){
  sub_.shutdown();
}



void LaserProcROS::scanCb(const sensor_msgs::MultiEchoLaserScanConstPtr& msg) const{
  pub_.publish(msg);
}

void LaserProcROS::connectCb(const ros::SingleSubscriberPublisher& pub){
  boost::mutex::scoped_lock lock(connect_mutex_);
  if (!sub_ && pub_.getNumSubscribers() > 0) {
    ROS_DEBUG("Connecting to multi echo topic.");
    sub_ = nh_.subscribe("echoes", 10, &LaserProcROS::scanCb, this);
  }
}

void LaserProcROS::disconnectCb(const ros::SingleSubscriberPublisher& pub){
  boost::mutex::scoped_lock lock(connect_mutex_);
  if (pub_.getNumSubscribers() == 0) {
    ROS_DEBUG("Unsubscribing from multi echo topic.");
    sub_.shutdown();
  }
}