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>
#include <image_transport/image_transport.h>
#include "jsk_topic_tools/log_utils.h"

namespace jsk_topic_tools
{
  enum ConnectionStatus
  {
    NOT_INITIALIZED,
    NOT_SUBSCRIBED,
    SUBSCRIBED
  };
  
  class ConnectionBasedNodelet: public nodelet::Nodelet
  {
  public:
    ConnectionBasedNodelet(): subscribed_(false) { }
  protected:
    
    virtual void onInit();


    virtual void onInitPostProcess();
    
    virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub);

    virtual void imageConnectionCallback(
      const image_transport::SingleSubscriberPublisher& pub);

    virtual void cameraConnectionCallback(
      const image_transport::SingleSubscriberPublisher& pub);
    
    virtual void cameraInfoConnectionCallback(
      const ros::SingleSubscriberPublisher& pub);
    
    virtual void cameraConnectionBaseCallback();

    virtual void warnOnInitPostProcessCalledCallback(const ros::WallTimerEvent& event);

    virtual void warnNeverSubscribedCallback(const ros::WallTimerEvent& event);

    virtual void subscribe() = 0;

    virtual void unsubscribe() = 0;

    virtual bool isSubscribed();

    template<class T> ros::Publisher
    advertise(ros::NodeHandle& nh,
              std::string topic, int queue_size)
    {
      boost::mutex::scoped_lock lock(connection_mutex_);
      ros::SubscriberStatusCallback connect_cb
        = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
      ros::SubscriberStatusCallback disconnect_cb
        = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1);
      bool latch;
      nh.param("latch", latch, false);
      ros::Publisher ret = nh.advertise<T>(topic, queue_size,
                                           connect_cb,
                                           disconnect_cb,
                                           ros::VoidConstPtr(),
                                           latch);
      publishers_.push_back(ret);
      
      return ret;
    }

    image_transport::Publisher
    advertiseImage(ros::NodeHandle& nh,
                   image_transport::ImageTransport& it,
                   const std::string& topic,
                   int queue_size)
    {
      NODELET_WARN("advertiseImage with ImageTransport is deprecated");
      return advertiseImage(nh, topic, queue_size);
    }
    
    image_transport::Publisher
    advertiseImage(ros::NodeHandle& nh,
                   const std::string& topic,
                   int queue_size)
    {
      boost::mutex::scoped_lock lock(connection_mutex_);
      image_transport::SubscriberStatusCallback connect_cb
        = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
                      this, _1);
      image_transport::SubscriberStatusCallback disconnect_cb
        = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback,
                      this, _1);
      bool latch;
      nh.param("latch", latch, false);
      image_transport::Publisher pub = image_transport::ImageTransport(nh).advertise(
        topic, 1,
        connect_cb,
        disconnect_cb,
        ros::VoidPtr(),
        latch);
      image_publishers_.push_back(pub);
      return pub;
    }


    image_transport::CameraPublisher
    advertiseCamera(ros::NodeHandle& nh,
                    image_transport::ImageTransport& it,
                    const std::string& topic,
                    int queue_size)
    {
      NODELET_WARN("advertiseCamera with ImageTransport is deprecated");
      return advertiseCamera(nh, topic, queue_size);
    }
    
    image_transport::CameraPublisher
    advertiseCamera(ros::NodeHandle& nh,
                    const std::string& topic,
                    int queue_size)
    {
      boost::mutex::scoped_lock lock(connection_mutex_);
      image_transport::SubscriberStatusCallback connect_cb
        = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
                      this, _1);
      image_transport::SubscriberStatusCallback disconnect_cb
        = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback,
                      this, _1);
      ros::SubscriberStatusCallback info_connect_cb
        = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
                      this, _1);
      ros::SubscriberStatusCallback info_disconnect_cb
        = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback,
                      this, _1);
      bool latch;
      nh.param("latch", latch, false);
      image_transport::CameraPublisher
        pub = image_transport::ImageTransport(nh).advertiseCamera(
          topic, 1,
          connect_cb, disconnect_cb,
          info_connect_cb, info_disconnect_cb,
          ros::VoidPtr(),
          latch);
      camera_publishers_.push_back(pub);
      return pub;
    }
    
    boost::mutex connection_mutex_;
    
    std::vector<ros::Publisher> publishers_;

    std::vector<image_transport::Publisher> image_publishers_;

    std::vector<image_transport::CameraPublisher> camera_publishers_;

    boost::shared_ptr<ros::NodeHandle> nh_;

    boost::shared_ptr<ros::NodeHandle> pnh_;

    ros::WallTimer timer_warn_never_subscribed_;

    bool subscribed_;

    bool ever_subscribed_;

    bool always_subscribe_;

    ConnectionStatus connection_status_;

    bool verbose_connection_;

    bool on_init_post_process_called_;

    ros::WallTimer timer_warn_on_init_post_process_called_;
  private:
    
  };
}

#endif