publishers/basic.hpp

Go to the documentation of this file.

/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef BASIC_PUBLISHER_HPP
#define BASIC_PUBLISHER_HPP
 
#include <string>
 
/*
* ROS includes
*/
#include <ros/ros.h>
 
namespace naoqi
{
namespace publisher
{
 
template<class T>
class BasicPublisher
{
 
public:
  BasicPublisher( const std::string& topic ):
    topic_( topic ),
    is_initialized_( false )
  {}
 
  virtual ~BasicPublisher() {}
 
  inline std::string topic() const
  {
    return topic_;
  }
 
  inline bool isInitialized() const
  {
    return is_initialized_;
  }
 
  virtual inline bool isSubscribed() const
  {
    if (is_initialized_ == false) return false;
      return pub_.getNumSubscribers() > 0;
  }
 
  virtual void publish( const T& msg )
  {
    pub_.publish( msg );
  }
 
  virtual void reset( ros::NodeHandle& nh )
  {
    pub_ = nh.advertise<T>( this->topic_, 10 );
    is_initialized_ = true;
  }
 
protected:
  std::string topic_;
 
  bool is_initialized_;
 
  ros::Publisher pub_;
}; // class
 
} // publisher
} // naoqi
 
#endif