00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2013, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef RELAY_NODELET_H_ 00037 #define RELAY_NODELET_H_ 00038 00039 #include <nodelet/nodelet.h> 00040 #include <topic_tools/shape_shifter.h> 00041 #include <boost/thread.hpp> 00042 #include <boost/thread/mutex.hpp> 00043 #include <jsk_topic_tools/ChangeTopic.h> 00044 #include "jsk_topic_tools/connection_based_nodelet.h" 00045 #include "jsk_topic_tools/timered_diagnostic_updater.h" 00046 #include "jsk_topic_tools/diagnostic_utils.h" 00047 00048 namespace jsk_topic_tools 00049 { 00050 class Relay : public nodelet::Nodelet 00051 { 00052 public: 00053 typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent; 00054 virtual void onInit(); 00055 virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg); 00056 protected: 00057 virtual void connectCb(); 00058 virtual void disconnectCb(); 00059 virtual bool changeOutputTopicCallback( 00060 jsk_topic_tools::ChangeTopic::Request &req, 00061 jsk_topic_tools::ChangeTopic::Response &res); 00062 virtual ros::Publisher advertise( 00063 boost::shared_ptr<topic_tools::ShapeShifter const> msg, 00064 const std::string& topic); 00065 virtual void updateDiagnostic( 00066 diagnostic_updater::DiagnosticStatusWrapper &stat); 00067 boost::shared_ptr<topic_tools::ShapeShifter const> sample_msg_; 00068 std::string output_topic_name_; 00069 boost::mutex mutex_; 00070 ros::Publisher pub_; 00071 ros::Subscriber sub_; 00072 ConnectionStatus connection_status_; 00073 ros::NodeHandle pnh_; 00074 ros::ServiceServer change_output_topic_srv_; 00080 TimeredDiagnosticUpdater::Ptr diagnostic_updater_; 00081 VitalChecker::Ptr vital_checker_; 00082 }; 00083 } 00084 00085 #endif