publisher.h

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/****************************************************************************
 *
 * fkie_message_filters
 * Copyright © 2018-2020 Fraunhofer FKIE
 * Author: Timo Röhling
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 ****************************************************************************/
#ifndef INCLUDE_FKIE_MESSAGE_FILTERS_PUBLISHER_H_
#define INCLUDE_FKIE_MESSAGE_FILTERS_PUBLISHER_H_
 
 
#include "source.h"
#include "publisher_base.h"
#include "message_translate.h"
#include <ros/node_handle.h>
#include <ros/publisher.h>
 
namespace fkie_message_filters
{
 
template<class M, template<typename> class Translate = RosMessageEvent>
class Publisher : public PublisherBase, public Sink<typename Translate<M>::FilterType>
{
public:
    Publisher() noexcept;
    Publisher(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, bool latch = false, ros::CallbackQueueInterface* callback_queue = nullptr) noexcept;
    virtual bool is_active() const noexcept override;
    virtual std::string topic() const noexcept override;
    void advertise(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, bool latch = false, ros::CallbackQueueInterface* callback_queue = nullptr) noexcept;
    void advertise(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size, const ros::SubscriberStatusCallback& connect_cb, const ros::SubscriberStatusCallback& disconnect_cb = ros::SubscriberStatusCallback(), const ros::VoidConstPtr& tracked_object = ros::VoidConstPtr(), bool latch = false, ros::CallbackQueueInterface* callback_queue = nullptr) noexcept;
 
protected:
    virtual void receive (const typename Translate<M>::FilterType& t) noexcept override;
private:
    ros::Publisher pub_;
};
 
} // namespace fkie_message_filters
 
#include "publisher_impl.h"
 
#endif /* INCLUDE_FKIE_MESSAGE_FILTERS_PUBLISHER_H_ */