publisher_plugin.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 * 
00004 *  Copyright (c) 2009, 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 
00035 #ifndef IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
00036 #define IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
00037 
00038 #include <ros/ros.h>
00039 #include <sensor_msgs/Image.h>
00040 #include "image_transport/single_subscriber_publisher.h"
00041 
00042 namespace image_transport {
00043 
00047 class PublisherPlugin : boost::noncopyable
00048 {
00049 public:
00050   virtual ~PublisherPlugin() {}
00051 
00056   virtual std::string getTransportName() const = 0;
00057 
00061   void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00062                  bool latch = true)
00063   {
00064     advertiseImpl(nh, base_topic, queue_size, SubscriberStatusCallback(),
00065                   SubscriberStatusCallback(), ros::VoidPtr(), latch);
00066   }
00067   
00071   void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00072                  const SubscriberStatusCallback& connect_cb,
00073                  const SubscriberStatusCallback& disconnect_cb = SubscriberStatusCallback(),
00074                  const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = true)
00075   {
00076     advertiseImpl(nh, base_topic, queue_size, connect_cb, disconnect_cb, tracked_object, latch);
00077   }
00078 
00083   virtual uint32_t getNumSubscribers() const = 0;
00084 
00088   virtual std::string getTopic() const = 0;
00089 
00093   virtual void publish(const sensor_msgs::Image& message) const = 0;
00094 
00098   virtual void publish(const sensor_msgs::ImageConstPtr& message) const
00099   {
00100     publish(*message);
00101   }
00102 
00110   virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const
00111   {
00112     sensor_msgs::Image msg;
00113     msg.header = message.header;
00114     msg.height = message.height;
00115     msg.width = message.width;
00116     msg.encoding = message.encoding;
00117     msg.is_bigendian = message.is_bigendian;
00118     msg.step = message.step;
00119     msg.data = std::vector<uint8_t>(data, data + msg.step*msg.height);
00120 
00121     publish(msg);
00122   }
00123 
00127   virtual void shutdown() = 0;
00128 
00133   static std::string getLookupName(const std::string& transport_name)
00134   {
00135     return "image_transport/" + transport_name + "_pub";
00136   }
00137 
00138 protected:
00142   virtual void advertiseImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00143                              const SubscriberStatusCallback& connect_cb,
00144                              const SubscriberStatusCallback& disconnect_cb,
00145                              const ros::VoidPtr& tracked_object, bool latch) = 0;
00146 };
00147 
00148 } //namespace image_transport
00149 
00150 #endif


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Aug 27 2015 13:30:17