publisher.h

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#ifndef ROSRT_PUBLISHER_H
#define ROSRT_PUBLISHER_H

#include <lockfree/object_pool.h>
#include "detail/pool_gc.h"

#include <ros/publisher.h>
#include <ros/node_handle.h>
#include <boost/utility.hpp>

namespace rosrt
{

typedef boost::shared_ptr<void const> VoidConstPtr;

typedef void(*PublishFunc)(const ros::Publisher& pub, const VoidConstPtr& msg);
typedef VoidConstPtr(*CloneFunc)(const VoidConstPtr& msg);

namespace detail
{
template<typename M>
void publishMessage(const ros::Publisher& pub, const VoidConstPtr& msg)
{
  boost::shared_ptr<M const> m = boost::static_pointer_cast<M const>(msg);
  pub.publish(m);
}

template<typename M>
VoidConstPtr cloneMessage(const VoidConstPtr& msg)
{
  boost::shared_ptr<M> clone(new M);
  *clone = *boost::static_pointer_cast<M const>(msg);
  return clone;
}

bool publish(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func);

template<typename M>
bool publish(const ros::Publisher& pub, const VoidConstPtr& msg)
{
  return publish(pub, msg, publishMessage<M>, cloneMessage<M>);
}
} // namespace detail

template<typename M>
class Publisher : public boost::noncopyable
{
  typedef boost::shared_ptr<M const> MConstPtr;

public:
  Publisher()
    : pool_(NULL)
  {
  }

  Publisher(const ros::Publisher& pub, uint32_t message_pool_size, const M& tmpl)
  {
    initialize(pub, message_pool_size, tmpl);
  }

  Publisher(ros::NodeHandle& nh, const std::string& topic, uint32_t ros_publisher_queue_size, uint32_t message_pool_size, const M& tmpl)
  {
    initialize(nh, topic, ros_publisher_queue_size, message_pool_size, tmpl);
  }

  ~Publisher()
  {
    if (pool_)
      detail::addPoolToGC((void*)pool_, detail::deletePool<M>, detail::poolIsDeletable<M>);
  }

  void initialize(const ros::Publisher& pub, uint32_t message_pool_size, const M& tmpl)
  {
    pub_ = pub;
    pool_ = new lockfree::ObjectPool<M>();
    pool_->initialize(message_pool_size, tmpl);
  }

  void initialize(ros::NodeHandle& nh, const std::string& topic, uint32_t ros_publisher_queue_size, uint32_t message_pool_size, const M& tmpl)
  {
    initialize(nh.advertise<M>(topic, ros_publisher_queue_size), message_pool_size, tmpl);
  }

  bool publish(const MConstPtr& msg)
  {
    return detail::publish<M>(pub_, msg);
  }

  boost::shared_ptr<M> allocate()
  {
    assert(pool_);
    return pool_->allocateShared();
  }

  const ros::Publisher& getPublisher() { return pub_; }

private:
  ros::Publisher pub_;
  lockfree::ObjectPool<M>* pool_;
};

} // namespace rosrt

#endif // ROSRT_PUBLISHER_H