publisher.h

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//=================================================================================================
// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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//=================================================================================================

#ifndef ROSMATLAB_PUBLISHER_H
#define ROSMATLAB_PUBLISHER_H

#include <rosmatlab/object.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>

#include <introspection/forwards.h>

namespace rosmatlab {

using cpp_introspection::VoidPtr;
using cpp_introspection::VoidConstPtr;
using cpp_introspection::MessagePtr;

class Publisher : public ros::Publisher, public Object<Publisher>
{
public:
  Publisher();
  Publisher(int nrhs, const mxArray *prhs[]);
  ~Publisher();

  using ros::Publisher::operator=;
  bool advertise(int nrhs, const mxArray *prhs[]);

  void publish(int nrhs, const mxArray *prhs[]);

  mxArray *getTopic() const;
  mxArray *getNumSubscribers() const;
  mxArray *isLatched() const;

private:
  ros::NodeHandle node_handle_;
  ros::AdvertiseOptions options_;

  MessagePtr introspection_;
};

} // namespace rosmatlab

#endif // ROSMATLAB_PUBLISHER_H