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 #include "image_transport/single_subscriber_publisher.h" 00036 #include "image_transport/publisher.h" 00037 00038 namespace image_transport { 00039 00040 SingleSubscriberPublisher::SingleSubscriberPublisher(const std::string& caller_id, const std::string& topic, 00041 const GetNumSubscribersFn& num_subscribers_fn, 00042 const PublishFn& publish_fn) 00043 : caller_id_(caller_id), topic_(topic), 00044 num_subscribers_fn_(num_subscribers_fn), 00045 publish_fn_(publish_fn) 00046 { 00047 } 00048 00049 std::string SingleSubscriberPublisher::getSubscriberName() const 00050 { 00051 return caller_id_; 00052 } 00053 00054 std::string SingleSubscriberPublisher::getTopic() const 00055 { 00056 return topic_; 00057 } 00058 00059 uint32_t SingleSubscriberPublisher::getNumSubscribers() const 00060 { 00061 return num_subscribers_fn_(); 00062 } 00063 00064 void SingleSubscriberPublisher::publish(const sensor_msgs::Image& message) const 00065 { 00066 publish_fn_(message); 00067 } 00068 00069 void SingleSubscriberPublisher::publish(const sensor_msgs::ImageConstPtr& message) const 00070 { 00071 publish_fn_(*message); 00072 } 00073 00074 } //namespace image_transport