passthrough_nodelet.h

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// -*- mode: c++ -*-
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#ifndef PASSTHROUGH_NODELET_H_
#define PASSTHROUGH_NODELET_H_

#include <nodelet/nodelet.h>
#include <topic_tools/shape_shifter.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <jsk_topic_tools/PassthroughDuration.h>
#include <std_srvs/Empty.h>

namespace jsk_topic_tools
{
  class Passthrough : public nodelet::Nodelet
  {
  public:
    typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
  protected:
    virtual void onInit();

    virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
    
    virtual bool requestCallback(
      std_srvs::Empty::Request &req,
      std_srvs::Empty::Response &res);
    
    virtual bool requestDurationCallback(
      jsk_topic_tools::PassthroughDuration::Request &req,
      jsk_topic_tools::PassthroughDuration::Response &res);

    virtual void requestDurationCallbackImpl(
      const ros::Duration& duration);
    
    virtual ros::Publisher advertise(
      boost::shared_ptr<topic_tools::ShapeShifter const> msg,
      const std::string& topic);

    virtual bool stopCallback(
      std_srvs::Empty::Request& req,
      std_srvs::Empty::Response& res);

    virtual void disconnectCb();
    virtual void connectCb();

    ros::Time finish_time_;
    bool publish_requested_;
    double default_duration_;
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
    bool advertised_;
    bool subscribing_;
    ros::NodeHandle pnh_;
    ros::Time end_time_;
    ros::ServiceServer request_duration_srv_;
    ros::ServiceServer stop_srv_;
    ros::ServiceServer request_srv_;
  };
}

#endif