00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #include "image_proc/advertisement_checker.h" 00035 #include <boost/foreach.hpp> 00036 00037 namespace image_proc { 00038 00039 AdvertisementChecker::AdvertisementChecker(const ros::NodeHandle& nh, 00040 const std::string& name) 00041 : nh_(nh), 00042 name_(name) 00043 { 00044 } 00045 00046 void AdvertisementChecker::timerCb() 00047 { 00048 ros::master::V_TopicInfo topic_info; 00049 if (!ros::master::getTopics(topic_info)) return; 00050 00051 ros::V_string::iterator topic_it = topics_.begin(); 00052 while (topic_it != topics_.end()) 00053 { 00054 // Should use std::find_if 00055 bool found = false; 00056 ros::master::V_TopicInfo::iterator info_it = topic_info.begin(); 00057 while (!found && info_it != topic_info.end()) 00058 { 00059 found = (*topic_it == info_it->name); 00060 ++info_it; 00061 } 00062 if (found) 00063 topic_it = topics_.erase(topic_it); 00064 else 00065 { 00066 ROS_WARN_NAMED(name_, "The input topic '%s' is not yet advertised", topic_it->c_str()); 00067 ++topic_it; 00068 } 00069 } 00070 00071 if (topics_.empty()) 00072 stop(); 00073 } 00074 00075 void AdvertisementChecker::start(const ros::V_string& topics, double duration) 00076 { 00077 topics_.clear(); 00078 BOOST_FOREACH(const std::string& topic, topics) 00079 topics_.push_back(nh_.resolveName(topic)); 00080 00081 ros::NodeHandle nh; 00082 timer_ = nh.createWallTimer(ros::WallDuration(duration), 00083 boost::bind(&AdvertisementChecker::timerCb, this)); 00084 timerCb(); 00085 } 00086 00087 void AdvertisementChecker::stop() 00088 { 00089 timer_.stop(); 00090 } 00091 00092 } // namespace image_proc