advertisement_checker.cpp
Go to the documentation of this file.
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


image_proc
Author(s): Patrick Mihelich, Kurt Konolige, Jeremy Leibs
autogenerated on Wed Aug 26 2015 11:57:28