relay_nodelet.h

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// -*- mode: c++ -*-
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#ifndef RELAY_NODELET_H_
#define RELAY_NODELET_H_

#include <nodelet/nodelet.h>
#include <topic_tools/shape_shifter.h>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <jsk_topic_tools/ChangeTopic.h>
#include "jsk_topic_tools/connection_based_nodelet.h"
#include "jsk_topic_tools/timered_diagnostic_updater.h"
#include "jsk_topic_tools/diagnostic_utils.h"

namespace jsk_topic_tools
{
  class Relay : public nodelet::Nodelet
  {
  public:
    typedef ros::MessageEvent<topic_tools::ShapeShifter> ShapeShifterEvent;
    virtual void onInit();
    virtual void inputCallback(const boost::shared_ptr<topic_tools::ShapeShifter const>& msg);
  protected:
    virtual void connectCb();
    virtual void disconnectCb();
    virtual bool changeOutputTopicCallback(
      jsk_topic_tools::ChangeTopic::Request &req,
      jsk_topic_tools::ChangeTopic::Response &res);
    virtual ros::Publisher advertise(
      boost::shared_ptr<topic_tools::ShapeShifter const> msg,
      const std::string& topic);
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    boost::shared_ptr<topic_tools::ShapeShifter const> sample_msg_;
    std::string output_topic_name_;
    boost::mutex mutex_;
    ros::Publisher pub_;
    ros::Subscriber sub_;
    ConnectionStatus connection_status_;
    ros::NodeHandle pnh_;
    ros::ServiceServer change_output_topic_srv_;
    TimeredDiagnosticUpdater::Ptr diagnostic_updater_;
    VitalChecker::Ptr vital_checker_;
  };
}

#endif