image_transport.cpp
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00034 
00035 #include "image_transport/image_transport.h"
00036 #include "image_transport/publisher_plugin.h"
00037 #include "image_transport/subscriber_plugin.h"
00038 #include <pluginlib/class_loader.h>
00039 #include <boost/make_shared.hpp>
00040 #include <boost/foreach.hpp>
00041 #include <boost/algorithm/string/erase.hpp>
00042 
00043 namespace image_transport {
00044 
00045 struct ImageTransport::Impl
00046 {
00047   ros::NodeHandle nh_;
00048   PubLoaderPtr pub_loader_;
00049   SubLoaderPtr sub_loader_;
00050   
00051   Impl(const ros::NodeHandle& nh)
00052     : nh_(nh),
00053       pub_loader_( boost::make_shared<PubLoader>("image_transport", "image_transport::PublisherPlugin") ),
00054       sub_loader_( boost::make_shared<SubLoader>("image_transport", "image_transport::SubscriberPlugin") )
00055   {
00056   }
00057 };
00058 
00059 ImageTransport::ImageTransport(const ros::NodeHandle& nh)
00060   : impl_(new Impl(nh))
00061 {
00062 }
00063 
00064 ImageTransport::~ImageTransport()
00065 {
00066 }
00067 
00068 Publisher ImageTransport::advertise(const std::string& base_topic, uint32_t queue_size, bool latch)
00069 {
00070   return advertise(base_topic, queue_size, SubscriberStatusCallback(),
00071                    SubscriberStatusCallback(), ros::VoidPtr(), latch);
00072 }
00073 
00074 Publisher ImageTransport::advertise(const std::string& base_topic, uint32_t queue_size,
00075                                     const SubscriberStatusCallback& connect_cb,
00076                                     const SubscriberStatusCallback& disconnect_cb,
00077                                     const ros::VoidPtr& tracked_object, bool latch)
00078 {
00079   return Publisher(impl_->nh_, base_topic, queue_size, connect_cb, disconnect_cb, tracked_object, latch, impl_->pub_loader_);
00080 }
00081 
00082 Subscriber ImageTransport::subscribe(const std::string& base_topic, uint32_t queue_size,
00083                                      const boost::function<void(const sensor_msgs::ImageConstPtr&)>& callback,
00084                                      const ros::VoidPtr& tracked_object, const TransportHints& transport_hints)
00085 {
00086   return Subscriber(impl_->nh_, base_topic, queue_size, callback, tracked_object, transport_hints, impl_->sub_loader_);
00087 }
00088 
00089 CameraPublisher ImageTransport::advertiseCamera(const std::string& base_topic, uint32_t queue_size, bool latch)
00090 {
00091   return advertiseCamera(base_topic, queue_size,
00092                          SubscriberStatusCallback(), SubscriberStatusCallback(),
00093                          ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(),
00094                          ros::VoidPtr(), latch);
00095 }
00096 
00097 CameraPublisher ImageTransport::advertiseCamera(const std::string& base_topic, uint32_t queue_size,
00098                                                 const SubscriberStatusCallback& image_connect_cb,
00099                                                 const SubscriberStatusCallback& image_disconnect_cb,
00100                                                 const ros::SubscriberStatusCallback& info_connect_cb,
00101                                                 const ros::SubscriberStatusCallback& info_disconnect_cb,
00102                                                 const ros::VoidPtr& tracked_object, bool latch)
00103 {
00104   return CameraPublisher(*this, impl_->nh_, base_topic, queue_size, image_connect_cb, image_disconnect_cb,
00105                          info_connect_cb, info_disconnect_cb, tracked_object, latch);
00106 }
00107 
00108 CameraSubscriber ImageTransport::subscribeCamera(const std::string& base_topic, uint32_t queue_size,
00109                                                  const CameraSubscriber::Callback& callback,
00110                                                  const ros::VoidPtr& tracked_object,
00111                                                  const TransportHints& transport_hints)
00112 {
00113   return CameraSubscriber(*this, impl_->nh_, base_topic, queue_size, callback, tracked_object, transport_hints);
00114 }
00115 
00116 std::vector<std::string> ImageTransport::getDeclaredTransports() const
00117 {
00118   std::vector<std::string> transports = impl_->sub_loader_->getDeclaredClasses();
00119   // Remove the "_sub" at the end of each class name.
00120   BOOST_FOREACH(std::string& transport, transports) {
00121     transport = boost::erase_last_copy(transport, "_sub");
00122   }
00123   return transports;
00124 }
00125 
00126 std::vector<std::string> ImageTransport::getLoadableTransports() const
00127 {
00128   std::vector<std::string> loadableTransports;
00129 
00130   BOOST_FOREACH( const std::string& transportPlugin, impl_->sub_loader_->getDeclaredClasses() )
00131   {
00132     // If the plugin loads without throwing an exception, add its
00133     // transport name to the list of valid plugins, otherwise ignore
00134     // it.
00135     try
00136     {
00137       boost::shared_ptr<image_transport::SubscriberPlugin> sub = impl_->sub_loader_->createInstance(transportPlugin);
00138       loadableTransports.push_back(boost::erase_last_copy(transportPlugin, "_sub")); // Remove the "_sub" at the end of each class name.
00139     }
00140     catch (const pluginlib::LibraryLoadException& e) {}
00141     catch (const pluginlib::CreateClassException& e) {}
00142   }
00143 
00144   return loadableTransports;
00145 
00146 }
00147 
00148 } //namespace image_transport


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Aug 27 2015 13:30:17