connection_based_nodelet.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/connection_based_nodelet.h"

namespace jsk_topic_tools
{
  void ConnectionBasedNodelet::onInit()
  {
    pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ()));
  }
  
  void ConnectionBasedNodelet::connectionCallback(const ros::SingleSubscriberPublisher& pub)
  {
    boost::mutex::scoped_lock lock(connection_mutex_);
    for (size_t i = 0; i < publishers_.size(); i++) {
      ros::Publisher pub = publishers_[i];
      if (pub.getNumSubscribers() > 0) {
        if (!subscribed_) {
          subscribe();
          subscribed_ = true;
        }
        return;
      }
    }
    if (subscribed_) {
      unsubscribe();
      subscribed_ = false;
    }
  }
}