advertisement_checker.cpp
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00034 #include "image_proc/advertisement_checker.h"
00035 #include <boost/foreach.hpp>
00036 
00037 namespace image_proc {
00038 
00039 AdvertisementChecker::AdvertisementChecker(const ros::NodeHandle& nh,
00040                                            const std::string& name)
00041   : nh_(nh),
00042     name_(name)
00043 {
00044 }
00045 
00046 void AdvertisementChecker::timerCb()
00047 {
00048   ros::master::V_TopicInfo topic_info;
00049   if (!ros::master::getTopics(topic_info)) return;
00050 
00051   ros::V_string::iterator topic_it = topics_.begin();
00052   while (topic_it != topics_.end())
00053   {
00054     // Should use std::find_if
00055     bool found = false;
00056     ros::master::V_TopicInfo::iterator info_it = topic_info.begin();
00057     while (!found && info_it != topic_info.end())
00058     {
00059       found = (*topic_it == info_it->name);
00060       ++info_it;
00061     }
00062     if (found)
00063       topic_it = topics_.erase(topic_it);
00064     else
00065     {
00066       ROS_WARN_NAMED(name_, "The input topic '%s' is not yet advertised", topic_it->c_str());
00067       ++topic_it;
00068     }
00069   }
00070 
00071   if (topics_.empty())
00072     stop();
00073 }
00074 
00075 void AdvertisementChecker::start(const ros::V_string& topics, double duration)
00076 {
00077   topics_.clear();
00078   BOOST_FOREACH(const std::string& topic, topics)
00079     topics_.push_back(nh_.resolveName(topic));
00080 
00081   ros::NodeHandle nh;
00082   timer_ = nh.createWallTimer(ros::WallDuration(duration),
00083                               boost::bind(&AdvertisementChecker::timerCb, this));
00084   timerCb();
00085 }
00086 
00087 void AdvertisementChecker::stop()
00088 {
00089   timer_.stop();
00090 }
00091 
00092 } // namespace image_proc


image_proc
Author(s): Patrick Mihelich, Kurt Konolige, Jeremy Leibs
autogenerated on Tue Sep 19 2017 02:56:13