connection_based_nodelet.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2014, JSK Lab
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00035 
00036 #include "jsk_topic_tools/connection_based_nodelet.h"
00037 
00038 namespace jsk_topic_tools
00039 {
00040   void ConnectionBasedNodelet::onInit()
00041   {
00042     pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ()));
00043   }
00044   
00045   void ConnectionBasedNodelet::connectionCallback(const ros::SingleSubscriberPublisher& pub)
00046   {
00047     boost::mutex::scoped_lock lock(connection_mutex_);
00048     for (size_t i = 0; i < publishers_.size(); i++) {
00049       ros::Publisher pub = publishers_[i];
00050       if (pub.getNumSubscribers() > 0) {
00051         if (!subscribed_) {
00052           subscribe();
00053           subscribed_ = true;
00054         }
00055         return;
00056       }
00057     }
00058     if (subscribed_) {
00059       unsubscribe();
00060       subscribed_ = false;
00061     }
00062   }
00063 }


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 12:38:34