jsk_topic_tools: snapshot_nodelet.cpp Source File

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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 #include "jsk_topic_tools/snapshot_nodelet.h"
00037 
00038 namespace jsk_topic_tools
00039 {
00040   void Snapshot::onInit()
00041   {
00042     advertised_ = false;
00043     subscribing_ = false;
00044     pnh_ = getPrivateNodeHandle();
00045     sub_ = pnh_.subscribe<topic_tools::ShapeShifter>(
00046       "input", 1,
00047       &Snapshot::inputCallback, this);
00048     request_service_ = pnh_.advertiseService(
00049       "request",
00050       &Snapshot::requestCallback, this);
00051   }
00052 
00053   void Snapshot::inputCallback(
00054     const boost::shared_ptr<topic_tools::ShapeShifter const>& msg)
00055   {
00056     boost::mutex::scoped_lock lock(mutex_);
00057     if (!advertised_) {         // initialization
00058       ros::AdvertiseOptions opts("output", 1,
00059                                  msg->getMD5Sum(),
00060                                  msg->getDataType(),
00061                                  msg->getMessageDefinition());
00062       opts.latch = false;
00063       pub_ = pnh_.advertise(opts);
00064       advertised_ = true;
00065       sub_.shutdown();
00066     }
00067     else {
00068       if (requested_) {
00069         pub_.publish(msg);
00070         requested_ = false;
00071         sub_.shutdown();
00072       }
00073     }
00074   }
00075 
00076 
00077   bool Snapshot::requestCallback(
00078       std_srvs::Empty::Request& req,
00079       std_srvs::Empty::Response& res)
00080   {
00081     boost::mutex::scoped_lock lock(mutex_);
00082     requested_ = true;
00083     sub_ = pnh_.subscribe<topic_tools::ShapeShifter>(
00084       "input", 1,
00085       &Snapshot::inputCallback, this);
00086   }
00087   
00088 }
00089 
00090 #include <pluginlib/class_list_macros.h>
00091 PLUGINLIB_EXPORT_CLASS (jsk_topic_tools::Snapshot, nodelet::Nodelet);