snapshot_nodelet.cpp
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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
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00035 
00036 #include "jsk_topic_tools/snapshot_nodelet.h"
00037 #include <std_msgs/Time.h>
00038 
00039 namespace jsk_topic_tools
00040 {
00041   void Snapshot::onInit()
00042   {
00043     advertised_ = false;
00044     subscribing_ = false;
00045     pnh_ = getPrivateNodeHandle();
00046     pnh_.param("latch", latch_, false);
00047     pub_timestamp_ = pnh_.advertise<std_msgs::Time>("output/stamp", 1);
00048     sub_ = pnh_.subscribe<topic_tools::ShapeShifter>(
00049       "input", 1,
00050       &Snapshot::inputCallback, this);
00051     request_service_ = pnh_.advertiseService(
00052       "request",
00053       &Snapshot::requestCallback, this);
00054   }
00055 
00056   void Snapshot::inputCallback(
00057     const boost::shared_ptr<topic_tools::ShapeShifter const>& msg)
00058   {
00059     boost::mutex::scoped_lock lock(mutex_);
00060     if (!advertised_) {         // initialization
00061       ros::AdvertiseOptions opts("output", 1,
00062                                  msg->getMD5Sum(),
00063                                  msg->getDataType(),
00064                                  msg->getMessageDefinition());
00065       opts.latch = latch_;
00066       pub_ = pnh_.advertise(opts);
00067       advertised_ = true;
00068       if (requested_) {
00069         pub_.publish(msg);
00070         std_msgs::Time timestamp;
00071         timestamp.data = ros::Time::now();
00072         pub_timestamp_.publish(timestamp);
00073         requested_ = false;
00074       }
00075       sub_.shutdown();
00076     }
00077     else {
00078       if (requested_) {
00079         pub_.publish(msg);
00080         std_msgs::Time timestamp;
00081         timestamp.data = ros::Time::now();
00082         pub_timestamp_.publish(timestamp);
00083         requested_ = false;
00084         sub_.shutdown();
00085       }
00086     }
00087   }
00088 
00089 
00090   bool Snapshot::requestCallback(
00091       std_srvs::Empty::Request& req,
00092       std_srvs::Empty::Response& res)
00093   {
00094     boost::mutex::scoped_lock lock(mutex_);
00095     requested_ = true;
00096     sub_ = pnh_.subscribe<topic_tools::ShapeShifter>(
00097       "input", 1,
00098       &Snapshot::inputCallback, this);
00099     return true;
00100   }
00101   
00102 }
00103 
00104 #include <pluginlib/class_list_macros.h>
00105 PLUGINLIB_EXPORT_CLASS (jsk_topic_tools::Snapshot, nodelet::Nodelet);


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Fri Sep 8 2017 03:38:56