publisher.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #ifndef ROSCPP_PUBLISHER_HANDLE_H
00029 #define ROSCPP_PUBLISHER_HANDLE_H
00030 
00031 #include "ros/forwards.h"
00032 #include "ros/common.h"
00033 #include "ros/message.h"
00034 #include "ros/serialization.h"
00035 #include <boost/bind.hpp>
00036 
00037 namespace ros
00038 {
00047   class ROSCPP_DECL Publisher
00048   {
00049   public:
00050     Publisher() {}
00051     Publisher(const Publisher& rhs);
00052     ~Publisher();
00053 
00062     template <typename M>
00063       void publish(const boost::shared_ptr<M>& message) const
00064     {
00065       using namespace serialization;
00066 
00067       if (!impl_)
00068         {
00069           ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher");
00070           return;
00071         }
00072 
00073       if (!impl_->isValid())
00074         {
00075           ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
00076           return;
00077         }
00078 
00079       ROS_ASSERT_MSG(impl_->md5sum_ == "*" || std::string(mt::md5sum<M>(*message)) == "*" || impl_->md5sum_ == mt::md5sum<M>(*message),
00080                      "Trying to publish message of type [%s/%s] on a publisher with type [%s/%s]",
00081                      mt::datatype<M>(*message), mt::md5sum<M>(*message),
00082                      impl_->datatype_.c_str(), impl_->md5sum_.c_str());
00083 
00084       SerializedMessage m;
00085       m.type_info = &typeid(M);
00086       m.message = message;
00087 
00088       publish(boost::bind(serializeMessage<M>, boost::ref(*message)), m);
00089     }
00090 
00094     template <typename M>
00095       void publish(const M& message) const
00096     {
00097       using namespace serialization;
00098       namespace mt = ros::message_traits;
00099 
00100       if (!impl_)
00101         {
00102           ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher");
00103           return;
00104         }
00105 
00106       if (!impl_->isValid())
00107         {
00108           ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
00109           return;
00110         }
00111 
00112       ROS_ASSERT_MSG(impl_->md5sum_ == "*" || std::string(mt::md5sum<M>(message)) == "*" || impl_->md5sum_ == mt::md5sum<M>(message),
00113                      "Trying to publish message of type [%s/%s] on a publisher with type [%s/%s]",
00114                      mt::datatype<M>(message), mt::md5sum<M>(message),
00115                      impl_->datatype_.c_str(), impl_->md5sum_.c_str());
00116 
00117       SerializedMessage m;
00118       publish(boost::bind(serializeMessage<M>, boost::ref(message)), m);
00119     }
00120 
00131     void shutdown();
00132 
00136     std::string getTopic() const;
00137 
00141     uint32_t getNumSubscribers() const;
00142 
00146     bool isLatched() const;
00147 
00148     operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
00149 
00150     bool operator<(const Publisher& rhs) const
00151     {
00152       return impl_ < rhs.impl_;
00153     }
00154 
00155     bool operator==(const Publisher& rhs) const
00156     {
00157       return impl_ == rhs.impl_;
00158     }
00159 
00160     bool operator!=(const Publisher& rhs) const
00161     {
00162       return impl_ != rhs.impl_;
00163     }
00164 
00165   private:
00166 
00167     Publisher(const std::string& topic, const std::string& md5sum, 
00168               const std::string& datatype, const NodeHandle& node_handle, 
00169               const SubscriberCallbacksPtr& callbacks);
00170 
00171     void publish(const boost::function<SerializedMessage(void)>& serfunc, SerializedMessage& m) const;
00172     void incrementSequence() const;
00173 
00174     class ROSCPP_DECL Impl
00175     {
00176     public:
00177       Impl();
00178       ~Impl();
00179 
00180       void unadvertise();
00181       bool isValid() const;
00182 
00183       std::string topic_;
00184       std::string md5sum_;
00185       std::string datatype_;
00186       NodeHandlePtr node_handle_;
00187       SubscriberCallbacksPtr callbacks_;
00188       bool unadvertised_;
00189     };
00190     typedef boost::shared_ptr<Impl> ImplPtr;
00191     typedef boost::weak_ptr<Impl> ImplWPtr;
00192 
00193     ImplPtr impl_;
00194 
00195     friend class NodeHandle;
00196     friend class NodeHandleBackingCollection;
00197   };
00198 
00199   typedef std::vector<Publisher> V_Publisher;
00200 }
00201 
00202 #endif // ROSCPP_PUBLISHER_HANDLE_H
00203 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03