#include <passthrough_nodelet.h>

Inheritance diagram for jsk_topic_tools::Passthrough:

Public Types
typedef ros::MessageEvent < topic_tools::ShapeShifter >	ShapeShifterEvent
Protected Member Functions
virtual ros::Publisher	advertise (boost::shared_ptr< topic_tools::ShapeShifter const > msg, const std::string &topic)
	Advertise a topic according to a specific message instance.
virtual void	connectCb ()
virtual void	disconnectCb ()
virtual void	inputCallback (const boost::shared_ptr< topic_tools::ShapeShifter const > &msg)
	Callback function for ~input. It advertise ~output topic according to the definition of input topic at the first time. After that, Passthrough relays ~input topic to ~output topic until end_time_.
virtual void	onInit ()
	Initialization function.
virtual bool	requestCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	Callback function for ~request service.
virtual bool	requestDurationCallback (jsk_topic_tools::PassthroughDuration::Request &req, jsk_topic_tools::PassthroughDuration::Response &res)
	Callback function for ~request_duration service.
virtual void	requestDurationCallbackImpl (const ros::Duration &duration)
	Implementation of requestDurationCallback.
virtual bool	stopCallback (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	Callback function of ~stop service. Force to stop publishing messages.
Protected Attributes
bool	advertised_
double	default_duration_
ros::Time	end_time_
ros::Time	finish_time_
boost::mutex	mutex_
ros::NodeHandle	pnh_
ros::Publisher	pub_
bool	publish_requested_
ros::ServiceServer	request_duration_srv_
ros::ServiceServer	request_srv_
ros::ServiceServer	stop_srv_
ros::Subscriber	sub_
bool	subscribing_

Detailed Description

Definition at line 48 of file passthrough_nodelet.h.

Member Typedef Documentation

typedef ros::MessageEvent<topic_tools::ShapeShifter> jsk_topic_tools::Passthrough::ShapeShifterEvent

Definition at line 51 of file passthrough_nodelet.h.

Member Function Documentation

ros::Publisher jsk_topic_tools::Passthrough::advertise	(	boost::shared_ptr< topic_tools::ShapeShifter const >	msg,
		const std::string &	topic
	)		`[protected, virtual]`

Advertise a topic according to a specific message instance.

Definition at line 194 of file passthrough_nodelet.cpp.

void jsk_topic_tools::Passthrough::connectCb ( ) [protected, virtual]

Definition at line 161 of file passthrough_nodelet.cpp.

void jsk_topic_tools::Passthrough::disconnectCb ( ) [protected, virtual]

Definition at line 178 of file passthrough_nodelet.cpp.

void jsk_topic_tools::Passthrough::inputCallback ( const boost::shared_ptr< topic_tools::ShapeShifter const > & msg ) [protected, virtual]

Callback function for ~input. It advertise ~output topic according to the definition of input topic at the first time. After that, Passthrough relays ~input topic to ~output topic until end_time_.

If ros::Time::now() goes over end_time_, publish_requested_ flag is set to false.

Definition at line 131 of file passthrough_nodelet.cpp.

void jsk_topic_tools::Passthrough::onInit ( ) [protected, virtual]

Initialization function.

Setup subscriber for ~input topic.

senario 1. 1-1 subscribe input 1-2 message 1-3 advertise output 1-4 unsubscribe input 1-5 prepare for request senario 2. 1-1 subscribe input 1-2 request 1-3 message 1-4 advertise 1-5 unsubscribe at the end of request

Implements nodelet::Nodelet.

Definition at line 53 of file passthrough_nodelet.cpp.

bool jsk_topic_tools::Passthrough::requestCallback	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[protected, virtual]`

Callback function for ~request service.

This callback reqtrieves std_srvs::Empty and enables passthrough for ~default_duration seconds.

Definition at line 123 of file passthrough_nodelet.cpp.

bool jsk_topic_tools::Passthrough::requestDurationCallback	(	jsk_topic_tools::PassthroughDuration::Request &	req,
		jsk_topic_tools::PassthroughDuration::Response &	res
	)		`[protected, virtual]`

Callback function for ~request_duration service.

This callback reqtrieves jsk_topic_tools::PassThroughDuration and it has a duration to relay message. In side of this function, end_time_ is updated relative to ros::Time::now().

If duration is equivalent to ros::Duration(0), it is interpreted as eternal.

Definition at line 115 of file passthrough_nodelet.cpp.

void jsk_topic_tools::Passthrough::requestDurationCallbackImpl ( const ros::Duration & duration ) [protected, virtual]

Implementation of requestDurationCallback.

Definition at line 84 of file passthrough_nodelet.cpp.