publisher.h
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00034 
00035 #ifndef ROSRT_PUBLISHER_H
00036 #define ROSRT_PUBLISHER_H
00037 
00038 #include <lockfree/object_pool.h>
00039 #include "detail/pool_gc.h"
00040 
00041 #include <ros/publisher.h>
00042 #include <ros/node_handle.h>
00043 #include <boost/utility.hpp>
00044 
00045 namespace rosrt
00046 {
00047 
00048 typedef boost::shared_ptr<void const> VoidConstPtr;
00049 
00050 typedef void(*PublishFunc)(const ros::Publisher& pub, const VoidConstPtr& msg);
00051 typedef VoidConstPtr(*CloneFunc)(const VoidConstPtr& msg);
00052 
00053 namespace detail
00054 {
00055 template<typename M>
00056 void publishMessage(const ros::Publisher& pub, const VoidConstPtr& msg)
00057 {
00058   boost::shared_ptr<M const> m = boost::static_pointer_cast<M const>(msg);
00059   pub.publish(m);
00060 }
00061 
00062 template<typename M>
00063 VoidConstPtr cloneMessage(const VoidConstPtr& msg)
00064 {
00065   boost::shared_ptr<M> clone(new M);
00066   *clone = *boost::static_pointer_cast<M const>(msg);
00067   return clone;
00068 }
00069 
00070 bool publish(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func);
00071 
00072 template<typename M>
00073 bool publish(const ros::Publisher& pub, const VoidConstPtr& msg)
00074 {
00075   return publish(pub, msg, publishMessage<M>, cloneMessage<M>);
00076 }
00077 } // namespace detail
00078 
00082 template<typename M>
00083 class Publisher : public boost::noncopyable
00084 {
00085   typedef boost::shared_ptr<M const> MConstPtr;
00086 
00087 public:
00092   Publisher()
00093     : pool_(NULL)
00094   {
00095   }
00096 
00103   Publisher(const ros::Publisher& pub, uint32_t message_pool_size, const M& tmpl)
00104   {
00105     initialize(pub, message_pool_size, tmpl);
00106   }
00107 
00116   Publisher(ros::NodeHandle& nh, const std::string& topic, uint32_t ros_publisher_queue_size, uint32_t message_pool_size, const M& tmpl)
00117   {
00118     initialize(nh, topic, ros_publisher_queue_size, message_pool_size, tmpl);
00119   }
00120 
00121   ~Publisher()
00122   {
00123     if (pool_)
00124       detail::addPoolToGC((void*)pool_, detail::deletePool<M>, detail::poolIsDeletable<M>);
00125   }
00126 
00133   void initialize(const ros::Publisher& pub, uint32_t message_pool_size, const M& tmpl)
00134   {
00135     pub_ = pub;
00136     pool_ = new lockfree::ObjectPool<M>();
00137     pool_->initialize(message_pool_size, tmpl);
00138   }
00139 
00148   void initialize(ros::NodeHandle& nh, const std::string& topic, uint32_t ros_publisher_queue_size, uint32_t message_pool_size, const M& tmpl)
00149   {
00150     initialize(nh.advertise<M>(topic, ros_publisher_queue_size), message_pool_size, tmpl);
00151   }
00152 
00156   bool publish(const MConstPtr& msg)
00157   {
00158     return detail::publish<M>(pub_, msg);
00159   }
00160 
00165   boost::shared_ptr<M> allocate()
00166   {
00167     assert(pool_);
00168     return pool_->allocateShared();
00169   }
00170 
00174   const ros::Publisher& getPublisher() { return pub_; }
00175 
00176 private:
00177   ros::Publisher pub_;
00178   lockfree::ObjectPool<M>* pool_;
00179 };
00180 
00181 } // namespace rosrt
00182 
00183 #endif // ROSRT_PUBLISHER_H


rosrt
Author(s): Josh Faust
autogenerated on Sat Jun 8 2019 20:43:39