publisher.h

00001 /*
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00004  * Copyright (c) 2011, Willow Garage, Inc.
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00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions
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00011  *  * Redistributions of source code must retain the above copyright
00012  *    notice, this list of conditions and the following disclaimer.
00013  *  * Redistributions in binary form must reproduce the above
00014  *    copyright notice, this list of conditions and the following
00015  *    disclaimer in the documentation and/or other materials provided
00016  *    with the distribution.
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00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035 #ifndef _ROS_PUBLISHER_H_
00036 #define _ROS_PUBLISHER_H_
00037 
00038 #include "rosserial_msgs/TopicInfo.h"
00039 #include "ros/node_handle.h"
00040 
00041 namespace ros
00042 {
00043 
00044 /* Generic Publisher */
00045 class Publisher
00046 {
00047 public:
00048   Publisher(const char * topic_name, Msg * msg, int endpoint = rosserial_msgs::TopicInfo::ID_PUBLISHER) :
00049     topic_(topic_name),
00050     msg_(msg),
00051     endpoint_(endpoint) {};
00052 
00053   int publish(const Msg * msg)
00054   {
00055     return nh_->publish(id_, msg);
00056   };
00057   int getEndpointType()
00058   {
00059     return endpoint_;
00060   }
00061 
00062   const char * topic_;
00063   Msg *msg_;
00064   // id_ and no_ are set by NodeHandle when we advertise
00065   int id_;
00066   NodeHandleBase_* nh_;
00067 
00068 private:
00069   int endpoint_;
00070 };
00071 
00072 }
00073 
00074 #endif