Publisher.h

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/******************************************************************************
 * Copyright (C) 2014 by Ralf Kaestner                                        *
 * ralf.kaestner@gmail.com                                                    *
 *                                                                            *
 * This program is free software; you can redistribute it and/or modify       *
 * it under the terms of the Lesser GNU General Public License as published by*
 * the Free Software Foundation; either version 3 of the License, or          *
 * (at your option) any later version.                                        *
 *                                                                            *
 * This program is distributed in the hope that it will be useful,            *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of             *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the               *
 * Lesser GNU General Public License for more details.                        *
 *                                                                            *
 * You should have received a copy of the Lesser GNU General Public License   *
 * along with this program. If not, see <http://www.gnu.org/licenses/>.       *
 ******************************************************************************/

#ifndef VARIANT_TOPIC_TOOLS_PUBLISHER_H
#define VARIANT_TOPIC_TOOLS_PUBLISHER_H

#include <ros/ros.h>

#include <variant_topic_tools/Forwards.h>
#include <variant_topic_tools/MessageSerializer.h>
#include <variant_topic_tools/MessageType.h>
#include <variant_topic_tools/MessageVariant.h>

namespace variant_topic_tools {
  class Publisher {
  friend class MessageType;
  public:
    Publisher();
    
    Publisher(const Publisher& src);
    
    ~Publisher();
    
    std::string getTopic() const;
    
    size_t getNumSubscribers() const;
    
    bool isLatched() const;
    
    void shutdown();
      
    inline operator void*() const {
      return (impl && impl->isValid()) ? (void*)1 : (void*)0;
    };
    
    void publish(const MessageVariant& variant);
  
    operator ros::Publisher() const;
      
  private:
    class Impl {
    public:
      Impl(ros::NodeHandle& nodeHandle, const MessageType& type,
        const std::string& topic, size_t queueSize, bool latch = false,
        const ros::SubscriberStatusCallback& connectCallback =
        ros::SubscriberStatusCallback());
      
      ~Impl();
      
      bool isValid() const;
      
      void shutdown();
            
      void publish(const MessageVariant& variant);
      
      MessageType type;
      
      MessageSerializer serializer;
      
      uint32_t sequenceNumber;
      
      ros::Publisher publisher;
    };

    typedef boost::shared_ptr<Impl> ImplPtr;
    
    typedef boost::weak_ptr<Impl> ImplWPtr;
    
    ImplPtr impl;
  };
};

#endif