00001 /****************************************************************************** 00002 * Copyright (C) 2014 by Ralf Kaestner * 00003 * ralf.kaestner@gmail.com * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the Lesser GNU General Public License as published by* 00007 * the Free Software Foundation; either version 3 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * Lesser GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the Lesser GNU General Public License * 00016 * along with this program. If not, see <http://www.gnu.org/licenses/>. * 00017 ******************************************************************************/ 00018 00023 #ifndef VARIANT_TOPIC_TOOLS_PUBLISHER_H 00024 #define VARIANT_TOPIC_TOOLS_PUBLISHER_H 00025 00026 #include <ros/ros.h> 00027 00028 #include <variant_topic_tools/Forwards.h> 00029 #include <variant_topic_tools/MessageSerializer.h> 00030 #include <variant_topic_tools/MessageType.h> 00031 #include <variant_topic_tools/MessageVariant.h> 00032 00033 namespace variant_topic_tools { 00036 class Publisher { 00037 friend class MessageType; 00038 public: 00041 Publisher(); 00042 00045 Publisher(const Publisher& src); 00046 00049 ~Publisher(); 00050 00053 std::string getTopic() const; 00054 00057 size_t getNumSubscribers() const; 00058 00061 bool isLatched() const; 00062 00065 void shutdown(); 00066 00069 inline operator void*() const { 00070 return (impl && impl->isValid()) ? (void*)1 : (void*)0; 00071 }; 00072 00076 void publish(const MessageVariant& variant); 00077 00081 operator ros::Publisher() const; 00082 00083 private: 00086 class Impl { 00087 public: 00090 Impl(ros::NodeHandle& nodeHandle, const MessageType& type, 00091 const std::string& topic, size_t queueSize, bool latch = false, 00092 const ros::SubscriberStatusCallback& connectCallback = 00093 ros::SubscriberStatusCallback()); 00094 00097 ~Impl(); 00098 00101 bool isValid() const; 00102 00105 void shutdown(); 00106 00110 void publish(const MessageVariant& variant); 00111 00114 MessageType type; 00115 00118 MessageSerializer serializer; 00119 00122 uint32_t sequenceNumber; 00123 00126 ros::Publisher publisher; 00127 }; 00128 00131 typedef boost::shared_ptr<Impl> ImplPtr; 00132 00136 typedef boost::weak_ptr<Impl> ImplWPtr; 00137 00140 ImplPtr impl; 00141 }; 00142 }; 00143 00144 #endif