Base class to simplify implementing most plugins to Publisher. More...

#include <simple_publisher_plugin.h>

Inheritance diagram for message_transport::SimplePublisherPlugin< Base, M >:

Classes
struct	SimplePublisherPluginImpl
Public Member Functions
virtual uint32_t	getNumSubscribers () const
	Returns the number of subscribers that are currently connected to this PublisherPlugin.
virtual std::string	getTopic () const
	Returns the communication topic that this PublisherPlugin will publish on.
virtual void	publish (const Base &message) const
	Publish an image using the transport associated with this PublisherPlugin.
virtual void	shutdown ()
	Shutdown any advertisements associated with this PublisherPlugin.
	SimplePublisherPlugin (bool forceLatch=false)
virtual	~SimplePublisherPlugin ()
Protected Types
typedef boost::function< void(const M &)>	PublishFn
	Generic function for publishing the internal message type.
Protected Member Functions
virtual void	advertiseImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const typename SingleSubscriberPublisher< Base >::StatusCB &user_connect_cb, const typename SingleSubscriberPublisher< Base >::StatusCB &user_disconnect_cb, const ros::VoidPtr &tracked_object, bool latch)
	Advertise a topic. Must be implemented by the subclass.
virtual void	connectCallback (const ros::SingleSubscriberPublisher &pub)
	Function called when a subscriber connects to the internal publisher.
void	connectCallbackHandle (const ros::SingleSubscriberPublisher &pub)
virtual void	disconnectCallback (const ros::SingleSubscriberPublisher &pub)
	Function called when a subscriber disconnects from the internal publisher.
void	disconnectCallbackHandle (const ros::SingleSubscriberPublisher &pub)
ros::NodeHandle &	getNodeHandle ()
const ros::NodeHandle &	getParamNode () const
	Returns the ros::NodeHandle to be used for parameter lookup.
virtual std::string	getTopicToAdvertise (const std::string &base_topic) const
	Return the communication topic name for a given base topic.
virtual void	postAdvertiseInit ()
	Can be overloaded by an implementation to call some.
virtual void	publish (const Base &message, const PublishFn &publish_fn) const =0
	Publish an image using the specified publish function. Must be implemented by the subclass.
void	publishInternal (const M &message) const
Private Types
typedef boost::function< void(const Base &)>	MessagePublishFn
typedef void(SimplePublisherPlugin::*	SubscriberStatusMemFn )(const ros::SingleSubscriberPublisher &pub)
Private Member Functions
ros::SubscriberStatusCallback	bindCB (const typename SingleSubscriberPublisher< Base >::StatusCB &user_cb, SubscriberStatusMemFn internal_cb_fn)
template<class PubT >
PublishFn	bindInternalPublisher (const PubT &pub) const
void	subscriberCB (const ros::SingleSubscriberPublisher &ros_ssp, const typename SingleSubscriberPublisher< Base >::StatusCB &user_cb, const ros::SubscriberStatusCallback &internal_cb)
Private Attributes
bool	forcelatch_
boost::scoped_ptr < SimplePublisherPluginImpl >	simple_impl_

Detailed Description

template<class Base, class M>
class message_transport::SimplePublisherPlugin< Base, M >

Base class to simplify implementing most plugins to Publisher.

This base class vastly simplifies implementing a PublisherPlugin in the common case that all communication with the matching SubscriberPlugin happens over a single ROS topic using a transport-specific message type. SimplePublisherPlugin is templated on the transport-specific message type.

A subclass need implement only two methods:

getTransportName() from PublisherPlugin
publish() with an extra PublishFn argument

For access to the parameter server and name remappings, use nh().

getTopicToAdvertise() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.

Definition at line 27 of file simple_publisher_plugin.h.

Member Typedef Documentation

template<class Base, class M>

typedef boost::function<void(const Base&)> message_transport::SimplePublisherPlugin< Base, M >::MessagePublishFn [private]

Definition at line 199 of file simple_publisher_plugin.h.

template<class Base, class M>

typedef boost::function<void(const M&)> message_transport::SimplePublisherPlugin< Base, M >::PublishFn [protected]

Generic function for publishing the internal message type.

Definition at line 83 of file simple_publisher_plugin.h.

template<class Base, class M>

typedef void(SimplePublisherPlugin::* message_transport::SimplePublisherPlugin< Base, M >::SubscriberStatusMemFn)(const ros::SingleSubscriberPublisher &pub) [private]

Definition at line 158 of file simple_publisher_plugin.h.

Constructor & Destructor Documentation

template<class Base, class M>

message_transport::SimplePublisherPlugin< Base, M >::SimplePublisherPlugin ( bool forceLatch = false ) [inline]

Definition at line 30 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual message_transport::SimplePublisherPlugin< Base, M >::~SimplePublisherPlugin ( ) [inline, virtual]

Definition at line 31 of file simple_publisher_plugin.h.

Member Function Documentation

template<class Base, class M>

virtual void message_transport::SimplePublisherPlugin< Base, M >::advertiseImpl	(	ros::NodeHandle &	nh,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const typename SingleSubscriberPublisher< Base >::StatusCB &	connect_cb,
		const typename SingleSubscriberPublisher< Base >::StatusCB &	disconnect_cb,
		const ros::VoidPtr &	tracked_object,
		bool	latch
	)		`[inline, protected, virtual]`

Advertise a topic. Must be implemented by the subclass.

Todo:: This does not work if base_topic is a global name.

Implements message_transport::PublisherPlugin< Base >.

Definition at line 61 of file simple_publisher_plugin.h.

template<class Base, class M>

ros::SubscriberStatusCallback message_transport::SimplePublisherPlugin< Base, M >::bindCB	(	const typename SingleSubscriberPublisher< Base >::StatusCB &	user_cb,
		SubscriberStatusMemFn	internal_cb_fn
	)		`[inline, private]`

Binds the user callback to subscriberCB(), which acts as an intermediary to expose a publish(Message) interface to the user while publishing to an internal topic.

Definition at line 164 of file simple_publisher_plugin.h.

template<class Base, class M>

template<class PubT >

PublishFn message_transport::SimplePublisherPlugin< Base, M >::bindInternalPublisher ( const PubT & pub ) const [inline, private]

Returns a function object for publishing the transport-specific message type through some ROS publisher type.

Parameters:

pub	An object with method void publish(const M&)

Definition at line 208 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual void message_transport::SimplePublisherPlugin< Base, M >::connectCallback ( const ros::SingleSubscriberPublisher & pub ) [inline, protected, virtual]

Function called when a subscriber connects to the internal publisher.

Defaults to noop.

Definition at line 114 of file simple_publisher_plugin.h.

template<class Base, class M>

void message_transport::SimplePublisherPlugin< Base, M >::connectCallbackHandle ( const ros::SingleSubscriberPublisher & pub ) [inline, protected]

Definition at line 115 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual void message_transport::SimplePublisherPlugin< Base, M >::disconnectCallback ( const ros::SingleSubscriberPublisher & pub ) [inline, protected, virtual]

Function called when a subscriber disconnects from the internal publisher.

Defaults to noop.

Definition at line 124 of file simple_publisher_plugin.h.

template<class Base, class M>

void message_transport::SimplePublisherPlugin< Base, M >::disconnectCallbackHandle ( const ros::SingleSubscriberPublisher & pub ) [inline, protected]

Definition at line 125 of file simple_publisher_plugin.h.

template<class Base, class M>

ros::NodeHandle& message_transport::SimplePublisherPlugin< Base, M >::getNodeHandle ( ) [inline, protected]

Definition at line 137 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual uint32_t message_transport::SimplePublisherPlugin< Base, M >::getNumSubscribers ( ) const [inline, virtual]

Returns the number of subscribers that are currently connected to this PublisherPlugin.

Implements message_transport::PublisherPluginGen.

Definition at line 33 of file simple_publisher_plugin.h.

template<class Base, class M>

const ros::NodeHandle& message_transport::SimplePublisherPlugin< Base, M >::getParamNode ( ) const [inline, protected]

Returns the ros::NodeHandle to be used for parameter lookup.

Definition at line 132 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual std::string message_transport::SimplePublisherPlugin< Base, M >::getTopic ( ) const [inline, virtual]

Returns the communication topic that this PublisherPlugin will publish on.

Implements message_transport::PublisherPluginGen.

Definition at line 39 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual std::string message_transport::SimplePublisherPlugin< Base, M >::getTopicToAdvertise ( const std::string & base_topic ) const [inline, protected, virtual]

Return the communication topic name for a given base topic.

Defaults to <base topic>/<transport name>.

Reimplemented in message_transport::RawPublisher< M >.

Definition at line 104 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual void message_transport::SimplePublisherPlugin< Base, M >::postAdvertiseInit ( ) [inline, protected, virtual]

Can be overloaded by an implementation to call some.

Definition at line 78 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual void message_transport::SimplePublisherPlugin< Base, M >::publish ( const Base & message ) const [inline, virtual]

Publish an image using the transport associated with this PublisherPlugin.

Implements message_transport::PublisherPlugin< Base >.

Definition at line 45 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual void message_transport::SimplePublisherPlugin< Base, M >::publish	(	const Base &	message,
		const PublishFn &	publish_fn
	)		const `[protected, pure virtual]`

Publish an image using the specified publish function. Must be implemented by the subclass.

The PublishFn publishes the transport-specific message type. This indirection allows SimpleSubscriberPlugin to use this function for both normal broadcast publishing and single subscriber publishing (in subscription callbacks).

template<class Base, class M>

void message_transport::SimplePublisherPlugin< Base, M >::publishInternal ( const M & message ) const [inline, protected]

Definition at line 95 of file simple_publisher_plugin.h.

template<class Base, class M>

virtual void message_transport::SimplePublisherPlugin< Base, M >::shutdown ( ) [inline, virtual]

Shutdown any advertisements associated with this PublisherPlugin.

Implements message_transport::PublisherPluginGen.

Definition at line 55 of file simple_publisher_plugin.h.

template<class Base, class M>

void message_transport::SimplePublisherPlugin< Base, M >::subscriberCB	(	const ros::SingleSubscriberPublisher &	ros_ssp,
		const typename SingleSubscriberPublisher< Base >::StatusCB &	user_cb,
		const ros::SubscriberStatusCallback &	internal_cb
	)		`[inline, private]`

Forms the ros::SingleSubscriberPublisher for the internal communication topic into an message_transport::SingleSubscriberPublisher for Message messages and passes it to the user subscriber status callback.

Definition at line 179 of file simple_publisher_plugin.h.

Member Data Documentation

template<class Base, class M>

bool message_transport::SimplePublisherPlugin< Base, M >::forcelatch_ [private]

Definition at line 156 of file simple_publisher_plugin.h.

template<class Base, class M>

boost::scoped_ptr<SimplePublisherPluginImpl> message_transport::SimplePublisherPlugin< Base, M >::simple_impl_ [private]

Definition at line 155 of file simple_publisher_plugin.h.

The documentation for this class was generated from the following file:

simple_publisher_plugin.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<class Base, class M> class message_transport::SimplePublisherPlugin< Base, M >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class Base, class M>
class message_transport::SimplePublisherPlugin< Base, M >