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publisher_impl.h

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#ifndef MESSAGE_TRANSPORT_PUBLISHER_IMPL_H
#define MESSAGE_TRANSPORT_PUBLISHER_IMPL_H

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#include "message_transport/publisher.h"
#include "message_transport/publisher_plugin.h"
#include <pluginlib/class_loader.h>
#include <boost/ptr_container/ptr_vector.hpp>
#include <boost/foreach.hpp>
#include <boost/algorithm/string/erase.hpp>

namespace message_transport {

        class PublisherImplGen
        {
                public:
                        PublisherImplGen(const std::string & topic) : 
                                base_topic_(topic), unadvertised_(false) { }

                        virtual ~PublisherImplGen()
                        {
                        }

                        virtual uint32_t getNumSubscribers() const = 0;
                        uint32_t getNumSubscribersBindable() const {
                                return this->getNumSubscribers();
                        }

                        std::string getTopic() const
                        {
                                return base_topic_;
                        }

                        bool isValid() const
                        {
                                return !unadvertised_;
                        }

                        void shutdown() {
                                this->shutdownImpl();
                        }

                        virtual void shutdownImpl() = 0;

                        template <class M>
                                void subscriberCB(const SingleSubscriberPublisher<M>& plugin_pub,
                                                const typename SingleSubscriberPublisher<M>::StatusCB& user_cb)
                                {
                                        SingleSubscriberPublisher<M> ssp(plugin_pub.getSubscriberName(), this->getTopic(),
                                                        boost::bind(&PublisherImplGen::getNumSubscribersBindable, this),
                                                        plugin_pub.publish_fn_);
                                        user_cb(ssp);
                                }

                        virtual std::vector<std::string> getDeclaredClasses() = 0;


                        template <class M>
                                void publish(const M& message) const;

                        template <class M>
                                void publish(const typename M::ConstPtr& message) const;

                protected :
                        std::string base_topic_;
                        bool unadvertised_;
                        //double constructed_;
        };

        template <class M>
        class PublisherImpl : public PublisherImplGen
        {
                public :
                        PublisherImpl(const std::string & topic, 
                                        const std::string & packageName,
                                        const std::string & className) : PublisherImplGen(topic),
                        loader_(packageName, 
                                                std::string("message_transport::PublisherPlugin<")+className+">")
                {
                }

                        virtual ~PublisherImpl() {
                                shutdownImpl();
                        }

                        virtual uint32_t getNumSubscribers() const
                        {
                                uint32_t count = 0;
                for (unsigned int i=0;i<publishers_.size();i++) {
                                        count += publishers_[i]->getNumSubscribers();
                }
                                return count;
                        }

                        virtual void shutdownImpl()
                        {
                                if (!unadvertised_) {
                                        unadvertised_ = true;
                    for (unsigned int i=0;i<publishers_.size();i++) {
                                                publishers_[i]->shutdown();
                    }
                                        publishers_.clear();
                                }
                        }

                        virtual std::vector<std::string> getDeclaredClasses() {
                                return loader_.getDeclaredClasses();
                        }

            boost::shared_ptr< PublisherPlugin<M> > addInstance(const std::string & name) {
#if ROS_VERSION_MINIMUM(1, 7, 0) // if current ros version is >= 1.7.0
                boost::shared_ptr< PublisherPlugin<M> > pub = loader_.createInstance(name);
#else
                boost::shared_ptr< PublisherPlugin<M> > pub(loader_.createClassInstance(name));
#endif
                                publishers_.push_back(pub);
                                return pub;
                        }

                        uint32_t getNumPublishers() const {
                                return publishers_.size();
                        }

                        void publish(const M& message) const {
                for (unsigned int i=0;i<publishers_.size();i++) {
                                        if (publishers_[i]->getNumSubscribers() > 0) {
                                                publishers_[i]->publish(message);
                                        }
                                }
                        }

                        void publish(const typename M::ConstPtr& message) const {
                for (unsigned int i=0;i<publishers_.size();i++) {
                                        if (publishers_[i]->getNumSubscribers() > 0) {
                                                publishers_[i]->publish(message);
                                        }
                                }
                        }
                protected:
                        pluginlib::ClassLoader< PublisherPlugin<M> > loader_;
            std::vector<boost::shared_ptr< PublisherPlugin<M> > > publishers_;
        };

        template <class M>
                void PublisherImplGen::publish(const M& message) const
                {
                        (dynamic_cast<const PublisherImpl<M>* const>(this))->publish(message);
                }

        template <class M>
                void PublisherImplGen::publish(const typename M::ConstPtr& message) const
                {
                        (dynamic_cast<const PublisherImpl<M>* const>(this))->publish(message);
                }
};
#endif // MESSAGE_TRANSPORT_PUBLISHER_IMPL_H

---

message_transport_common
Author(s): Cedric Pradalier
autogenerated on Sat Mar 2 12:31:58 2013