throttled_publisher.h

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#ifndef THROTTLED_TRANSPORT_PUBLISHER_H
#define THROTTLED_TRANSPORT_PUBLISHER_H


#include <message_transport/simple_publisher_plugin.h>
#include <throttled_transport/throttler.h>

namespace throttled_transport {

        template <class Base>
        class ThrottledPublisher : 
                public message_transport::SimplePublisherPlugin<Base,Base>
        {
                public:
                        ThrottledPublisher() : 
                message_transport::SimplePublisherPlugin<Base,Base>(){}
                        virtual ~ThrottledPublisher() {}

                        virtual std::string getTransportName() const
                        {
                                return "throttled";
                        }
                protected:
                        virtual void publish(const Base& message,
                                        const typename message_transport::SimplePublisherPlugin<Base,Base>::PublishFn& publish_fn) const {
                                
                size_t datasize = ros::serialization::serializationLength(message);
                if (throttler.can_publish(datasize)) {
                    publish_fn(message);
                }
                        }

            mutable Throttler throttler;
        };


} //namespace throttled_transport


#endif // THROTTLED_TRANSPORT_PUBLISHER_H