relay.cpp
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00001 
00002 // relay just passes messages on. it can be useful if you're trying to ensure
00003 // that a message doesn't get sent twice over a wireless link, by having the 
00004 // relay catch the message and then do the fanout on the far side of the 
00005 // wireless link.
00006 //
00007 // Copyright (C) 2009, Morgan Quigley
00008 //
00009 // Redistribution and use in source and binary forms, with or without
00010 // modification, are permitted provided that the following conditions are met:
00011 //   * Redistributions of source code must retain the above copyright notice,
00012 //     this list of conditions and the following disclaimer.
00013 //   * Redistributions in binary form must reproduce the above copyright
00014 //     notice, this list of conditions and the following disclaimer in the
00015 //     documentation and/or other materials provided with the distribution.
00016 //   * Neither the name of Stanford University nor the names of its
00017 //     contributors may be used to endorse or promote products derived from
00018 //     this software without specific prior written permission.
00019 //
00020 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00021 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00022 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00023 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00024 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00025 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00026 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00027 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00028 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00029 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00030 // POSSIBILITY OF SUCH DAMAGE.
00032 
00033 
00034 #include <cstdio>
00035 #include "topic_tools/shape_shifter.h"
00036 #include "topic_tools/parse.h"
00037 
00038 using std::string;
00039 using std::vector;
00040 using namespace topic_tools;
00041 
00042 ros::NodeHandle *g_node = NULL;
00043 bool g_advertised = false;
00044 string g_input_topic;
00045 string g_output_topic;
00046 ros::Publisher g_pub;
00047 ros::Subscriber* g_sub;
00048 bool g_lazy;
00049 ros::TransportHints g_th;
00050 
00051 void conn_cb(const ros::SingleSubscriberPublisher&);
00052 void in_cb(const ros::MessageEvent<ShapeShifter>& msg_event);
00053 
00054 void subscribe()
00055 {
00056   g_sub = new ros::Subscriber(g_node->subscribe(g_input_topic, 10, &in_cb, g_th));
00057 }
00058 
00059 void conn_cb(const ros::SingleSubscriberPublisher&)
00060 {
00061   // If we're in lazy subscribe mode, and the first subscriber just
00062   // connected, then subscribe, #3389.
00063   if(g_lazy && !g_sub)
00064   {
00065     ROS_DEBUG("lazy mode; resubscribing");
00066     subscribe();
00067   }
00068 }
00069 
00070 void in_cb(const ros::MessageEvent<ShapeShifter>& msg_event)
00071 {
00072   boost::shared_ptr<ShapeShifter const> const &msg = msg_event.getConstMessage();
00073   boost::shared_ptr<const ros::M_string> const& connection_header = msg_event.getConnectionHeaderPtr();
00074 
00075   if (!g_advertised)
00076   {
00077     // If the input topic is latched, make the output topic latched, #3385.
00078     bool latch = false;
00079     if (connection_header)
00080     {
00081       ros::M_string::const_iterator it = connection_header->find("latching");
00082       if((it != connection_header->end()) && (it->second == "1"))
00083       {
00084         ROS_DEBUG("input topic is latched; latching output topic to match");
00085         latch = true;
00086       }
00087     }
00088     g_pub = msg->advertise(*g_node, g_output_topic, 10, latch, conn_cb);
00089     g_advertised = true;
00090     ROS_INFO("advertised as %s\n", g_output_topic.c_str());
00091   }
00092   // If we're in lazy subscribe mode, and nobody's listening, 
00093   // then unsubscribe, #3389.
00094   if(g_lazy && !g_pub.getNumSubscribers())
00095   {
00096     ROS_DEBUG("lazy mode; unsubscribing");
00097     delete g_sub;
00098     g_sub = NULL;
00099   }
00100   else
00101     g_pub.publish(msg);
00102 }
00103 
00104 int main(int argc, char **argv)
00105 {
00106   if (argc < 2)
00107   {
00108     printf("\nusage: relay IN_TOPIC [OUT_TOPIC]\n\n");
00109     return 1;
00110   }
00111   std::string topic_name;
00112   if(!getBaseName(string(argv[1]), topic_name))
00113     return 1;
00114   ros::init(argc, argv, topic_name + string("_relay"),
00115             ros::init_options::AnonymousName);
00116   if (argc == 2)
00117     g_output_topic = string(argv[1]) + string("_relay");
00118   else // argc == 3
00119     g_output_topic = string(argv[2]);
00120   g_input_topic = string(argv[1]);
00121   ros::NodeHandle n;
00122   g_node = &n;
00123   
00124   ros::NodeHandle pnh("~");
00125   bool unreliable = false;
00126   pnh.getParam("unreliable", unreliable);
00127   pnh.getParam("lazy", g_lazy);
00128   if (unreliable)
00129     g_th.unreliable().reliable(); // Prefers unreliable, but will accept reliable.
00130 
00131   subscribe();
00132   ros::spin();
00133   return 0;
00134 }
00135 


topic_tools
Author(s): Morgan Quigley, Brian Gerkey
autogenerated on Thu Jun 6 2019 21:10:59