stealth_relay.h

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// -*- mode: C++ -*-
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/*
 * stealth_relay.h
 * Author: Furushchev <furushchev@jsk.imi.i.u-tokyo.ac.jp>
 */


#ifndef STEALTH_RELAY_H__
#define STEALTH_RELAY_H__

#include <boost/thread.hpp>
#include <nodelet/nodelet.h>
#include <topic_tools/shape_shifter.h>


namespace jsk_topic_tools
{
  class StealthRelay : public nodelet::Nodelet
  {
    typedef boost::shared_ptr<topic_tools::ShapeShifter const> AnyMsgConstPtr;
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual bool isSubscribed();
    virtual void inputCallback(const AnyMsgConstPtr& msg);
    virtual void timerCallback(const ros::TimerEvent& event);
    virtual bool getNumOtherSubscribers(const std::string& name, int& num);

    boost::mutex mutex_;
    boost::shared_ptr<ros::NodeHandle> nh_, pnh_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
    ros::Timer poll_timer_;
    std::string monitoring_topic_;
    int queue_size_;
    bool subscribed_;
    bool advertised_;
  };
}

#endif // STEALTH_RELAY_H__