publisher.h
Go to the documentation of this file.
00001 /* 
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, 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 Willow Garage, Inc. nor the names of its
00018  *    contributors may be used to endorse or promote prducts 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 
00035 #ifndef _ROS_PUBLISHER_H_
00036 #define _ROS_PUBLISHER_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 #include "node_handle.h"
00040 
00041 namespace ros {
00042 
00043   /* Generic Publisher */
00044   class Publisher
00045   {
00046     public:
00047       Publisher( const char * topic_name, Msg * msg, int endpoint=rosserial_msgs::TopicInfo::ID_PUBLISHER) :
00048         topic_(topic_name), 
00049         msg_(msg),
00050         endpoint_(endpoint) {};
00051 
00052       int publish( const Msg * msg ) { return nh_->publish(id_, msg); };
00053       int getEndpointType(){ return endpoint_; }
00054 
00055       const char * topic_;
00056       Msg *msg_;
00057       // id_ and no_ are set by NodeHandle when we advertise 
00058       int id_;
00059       NodeHandleBase_* nh_;
00060 
00061     private:
00062       int endpoint_;
00063   };
00064 
00065 }
00066 
00067 #endif


rosserial_client
Author(s): Michael Ferguson, Adam Stambler
autogenerated on Mon Oct 6 2014 07:10:46