00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef PASSTHROUGH_NODELET_H_ 00037 #define PASSTHROUGH_NODELET_H_ 00038 00039 #include <nodelet/nodelet.h> 00040 #include <topic_tools/shape_shifter.h> 00041 #include <boost/thread.hpp> 00042 #include <boost/thread/mutex.hpp> 00043 #include <jsk_topic_tools/PassthroughDuration.h> 00044 #include <std_srvs/Empty.h> 00045 00046 namespace jsk_topic_tools 00047 { 00048 class Passthrough : public nodelet::Nodelet 00049 { 00050 public: 00051 typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent; 00052 protected: 00058 virtual void onInit(); 00059 00070 virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg); 00071 00078 virtual bool requestCallback( 00079 std_srvs::Empty::Request &req, 00080 std_srvs::Empty::Response &res); 00081 00091 virtual bool requestDurationCallback( 00092 jsk_topic_tools::PassthroughDuration::Request &req, 00093 jsk_topic_tools::PassthroughDuration::Response &res); 00094 00099 virtual void requestDurationCallbackImpl( 00100 const ros::Duration& duration); 00101 00105 virtual ros::Publisher advertise( 00106 boost::shared_ptr<topic_tools::ShapeShifter const> msg, 00107 const std::string& topic); 00108 00113 virtual bool stopCallback( 00114 std_srvs::Empty::Request& req, 00115 std_srvs::Empty::Response& res); 00116 00117 virtual void disconnectCb(); 00118 virtual void connectCb(); 00119 00120 ros::Time finish_time_; 00121 bool publish_requested_; 00122 double default_duration_; 00123 boost::mutex mutex_; 00124 ros::Publisher pub_; 00125 ros::Subscriber sub_; 00126 bool advertised_; 00127 bool subscribing_; 00128 ros::NodeHandle pnh_; 00129 ros::Time end_time_; 00130 ros::ServiceServer request_duration_srv_; 00131 ros::ServiceServer stop_srv_; 00132 ros::ServiceServer request_srv_; 00133 }; 00134 } 00135 00136 #endif