publisher.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * 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 names of Stanford University or Willow Garage, Inc. 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 OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef ROSCPP_PUBLISHER_HANDLE_H
#define ROSCPP_PUBLISHER_HANDLE_H
 
#include "ros/forwards.h"
#include "ros/common.h"
#include "ros/message.h"
#include "ros/serialization.h"
#include <boost/bind/bind.hpp>
#include <boost/thread/mutex.hpp>
 
// For backward compatibility, pull placeholders into global namespace
using namespace boost::placeholders;
 
namespace ros
{
  class ROSCPP_DECL Publisher
  {
  public:
    Publisher() {}
    Publisher(const Publisher& rhs);
    ~Publisher();
    Publisher& operator=(const Publisher& other) = default;
 
    template <typename M>
      void publish(const boost::shared_ptr<M>& message) const
    {
      using namespace serialization;
 
      if (!impl_)
        {
          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher");
          return;
        }
 
      if (!impl_->isValid())
        {
          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
          return;
        }
        if (impl_->md5sum_ == "*" ||
            std::string(mt::md5sum<M>(*message)) == "*" ||
            impl_->md5sum_ == mt::md5sum<M>(*message)) {
          ROS_DEBUG_ONCE("Trying to publish message of type [%s/%s] on a "
                    "publisher with type [%s/%s]",
                    mt::datatype<M>(*message), mt::md5sum<M>(*message),
                    impl_->datatype_.c_str(), impl_->md5sum_.c_str());
        }
 
      SerializedMessage m;
      m.type_info = &typeid(M);
      m.message = message;
 
      publish(boost::bind(serializeMessage<M>, boost::ref(*message)), m);
    }
 
    template <typename M>
      void publish(const M& message) const
    {
      using namespace serialization;
      namespace mt = ros::message_traits;
 
      if (!impl_)
        {
          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher");
          return;
        }
 
      if (!impl_->isValid())
        {
          ROS_ASSERT_MSG(false, "Call to publish() on an invalid Publisher (topic [%s])", impl_->topic_.c_str());
          return;
        }
        if (impl_->md5sum_ == "*" ||
            std::string(mt::md5sum<M>(message)) == "*" ||
            impl_->md5sum_ == mt::md5sum<M>(message)) {
          ROS_DEBUG_ONCE("Trying to publish message of type [%s/%s] on a "
                    "publisher with type [%s/%s]",
                    mt::datatype<M>(message), mt::md5sum<M>(message),
                    impl_->datatype_.c_str(), impl_->md5sum_.c_str());
        }
 
      SerializedMessage m;
      publish(boost::bind(serializeMessage<M>, boost::ref(message)), m);
    }
 
    void shutdown();
 
    std::string getTopic() const;
 
    uint32_t getNumSubscribers() const;
 
    bool isLatched() const;
 
    operator void*() const { return (impl_ && impl_->isValid()) ? (void*)1 : (void*)0; }
 
    bool operator<(const Publisher& rhs) const
    {
      return impl_ < rhs.impl_;
    }
 
    bool operator==(const Publisher& rhs) const
    {
      return impl_ == rhs.impl_;
    }
 
    bool operator!=(const Publisher& rhs) const
    {
      return impl_ != rhs.impl_;
    }
 
    boost::function<void(const SubscriberLinkPtr &)> getLastMessageCallback() {
      return boost::bind(&Impl::pushLastMessage, impl_.get(), boost::placeholders::_1);
    }
 
  private:
 
    Publisher(const std::string& topic, const std::string& md5sum, 
              const std::string& datatype, bool latch, const NodeHandle& node_handle,
              const SubscriberCallbacksPtr& callbacks);
 
    void publish(const boost::function<SerializedMessage(void)>& serfunc, SerializedMessage& m) const;
    void incrementSequence() const;
 
    class ROSCPP_DECL Impl
    {
    public:
      Impl();
      ~Impl();
 
      void unadvertise();
      bool isValid() const;
      void pushLastMessage(const SubscriberLinkPtr &sub_link);
 
      std::string topic_;
      std::string md5sum_;
      std::string datatype_;
      NodeHandlePtr node_handle_;
      SubscriberCallbacksPtr callbacks_;
      bool unadvertised_;
      bool latch_;
      SerializedMessage last_message_;
      boost::mutex last_message_mutex_;
    };
    typedef boost::shared_ptr<Impl> ImplPtr;
    typedef boost::weak_ptr<Impl> ImplWPtr;
 
    ImplPtr impl_;
 
    friend class NodeHandle;
    friend class NodeHandleBackingCollection;
  };
 
  typedef std::vector<Publisher> V_Publisher;
}
 
#endif // ROSCPP_PUBLISHER_HANDLE_H