unreliable_relay.cpp
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00001 
00002 // relay just passes messages on. it can be useful if you're trying to ensure
00003 // that a message doesn't get sent twice over a wireless link, by having the 
00004 // relay catch the message and then do the fanout on the far side of the 
00005 // wireless link.
00006 //
00007 // Copyright (C) 2009, Morgan Quigley
00008 //
00009 // Redistribution and use in source and binary forms, with or without
00010 // modification, are permitted provided that the following conditions are met:
00011 //   * Redistributions of source code must retain the above copyright notice,
00012 //     this list of conditions and the following disclaimer.
00013 //   * Redistributions in binary form must reproduce the above copyright
00014 //     notice, this list of conditions and the following disclaimer in the
00015 //     documentation and/or other materials provided with the distribution.
00016 //   * Neither the name of Stanford University nor the names of its
00017 //     contributors may be used to endorse or promote products derived from
00018 //     this software without specific prior written permission.
00019 //
00020 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00021 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00022 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00023 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00024 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00025 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00026 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00027 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00028 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00029 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00030 // POSSIBILITY OF SUCH DAMAGE.
00032 
00033 
00034 #include <cstdio>
00035 #include "topic_tools/shape_shifter.h"
00036 #include "topic_tools/parse.h"
00037 
00038 using std::string;
00039 using std::vector;
00040 using namespace topic_tools;
00041 
00042 ros::NodeHandle *g_node = NULL;
00043 static bool g_advertised = false;
00044 static string g_output_topic;
00045 static ros::Publisher g_pub;
00046 
00047 void in_cb(const boost::shared_ptr<ShapeShifter const>& msg)
00048 {
00049   if (!g_advertised)
00050   {
00051     g_pub = msg->advertise(*g_node, g_output_topic, 10);
00052     g_advertised = true;
00053     printf("advertised as %s\n", g_output_topic.c_str());
00054   }
00055   g_pub.publish(msg);
00056 }
00057 
00058 int main(int argc, char **argv)
00059 {
00060   if (argc < 2)
00061   {
00062     printf("\nusage: unreliable_relay IN_TOPIC [OUT_TOPIC]\n\n");
00063     return 1;
00064   }
00065   std::string topic_name;
00066   if(!getBaseName(string(argv[1]), topic_name))
00067     return 1;
00068   ros::init(argc, argv, topic_name + string("_unreliable_relay"),
00069             ros::init_options::AnonymousName);
00070   if (argc == 2)
00071     g_output_topic = string(argv[1]) + string("_unreliable_relay");
00072   else // argc == 3
00073     g_output_topic = string(argv[2]);
00074   ros::NodeHandle n;
00075   g_node = &n;
00076   ros::Subscriber sub = n.subscribe<ShapeShifter>(string(argv[1]), 10, &in_cb, ros::TransportHints().unreliable());
00077   ros::spin();
00078   return 0;
00079 }
00080 


foreign_relay
Author(s): Blaise Gassend
autogenerated on Mon Dec 2 2013 11:36:50