mux_nodelet.h

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 *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
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#ifndef MUX_NODELET_H_
#define MUX_NODELET_H_

#include <nodelet/nodelet.h>
#include <topic_tools/shape_shifter.h>

#include <topic_tools/MuxSelect.h>
#include <topic_tools/MuxAdd.h>
#include <topic_tools/MuxDelete.h>
#include <topic_tools/MuxList.h>

namespace jsk_topic_tools
{
  class MUX : public nodelet::Nodelet
  {
  public:
    typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
    virtual void onInit();
    virtual bool selectTopicCallback(topic_tools::MuxSelect::Request  &req,
                                     topic_tools::MuxSelect::Response &res);
    virtual bool addTopicCallback(topic_tools::MuxAdd::Request& req,
                                  topic_tools::MuxAdd::Response& res);
    virtual bool deleteTopicCallback(topic_tools::MuxDelete::Request& req,
                                     topic_tools::MuxDelete::Response& res);
    virtual bool listTopicCallback(topic_tools::MuxList::Request& req,
                                   topic_tools::MuxList::Response& res);
    virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
  protected:
    virtual void connectCb(const ros::SingleSubscriberPublisher& pub);
    virtual void subscribeSelectedTopic();
    bool advertised_;
    bool subscribing_;
    std::vector<std::string> topics_;
    std::string selected_topic_;
    boost::shared_ptr<ros::Subscriber> sub_;
    ros::Publisher pub_selected_;
    ros::Publisher pub_;
    ros::NodeHandle pnh_;
    ros::TransportHints th_;
    ros::ServiceServer ss_select_, ss_add_, ss_list_, ss_del_;
  };
}

#endif