publisher_handler.h

Go to the documentation of this file.

 
#ifndef PUBLISHER_HANDLER_H
#define PUBLISHER_HANDLER_H
 
#include <ros/ros.h>
#include <ros/package.h>
 
#include <atomic>
#include <string>
#include <mutex>
 
namespace mrs_lib
{
 
/* class PublisherHandler_impl //{ */
 
template <class TopicType>
class PublisherHandler_impl {
 
public:
  PublisherHandler_impl(void);
 
  ~PublisherHandler_impl(void){};
 
  PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size = 1, const bool& latch = false,
                        const double& rate = 0.0);
 
  void publish(const TopicType& msg);
 
  void publish(const boost::shared_ptr<TopicType>& msg);
 
  void publish(const boost::shared_ptr<TopicType const>& msg);
 
  unsigned int getNumSubscribers(void);
 
private:
  ros::Publisher    publisher_;
  std::mutex        mutex_publisher_;
  std::atomic<bool> publisher_initialized_;
 
  bool      throttle_ = false;
  double    throttle_min_dt_;
  ros::Time last_time_published_;
};
 
//}
 
/* class PublisherHandler //{ */
 
template <class TopicType>
class PublisherHandler {
 
public:
  PublisherHandler(void){};
 
  ~PublisherHandler(void){};
 
  PublisherHandler& operator=(const PublisherHandler& other);
 
  PublisherHandler(const PublisherHandler& other);
 
  PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size = 1, const bool& latch = false, const double& rate = 0);
 
  void publish(const TopicType& msg);
 
  void publish(const boost::shared_ptr<TopicType>& msg);
 
  void publish(const boost::shared_ptr<TopicType const>& msg);
 
  unsigned int getNumSubscribers(void);
 
private:
  std::shared_ptr<PublisherHandler_impl<TopicType>> impl_;
};
 
//}
 
}  // namespace mrs_lib
 
#include <mrs_lib/impl/publisher_handler.hpp>
 
#endif  // PUBLISHER_HANDLER_H