Diff: ros/publisher.h

Revision:

3:1cf99502f396

Parent:

1:ff0ec969dad1

Child:

4:684f39d0c346

--- a/ros/publisher.h	Sun Oct 16 09:35:11 2011 +0000
+++ b/ros/publisher.h	Sat Nov 12 23:54:45 2011 +0000
@@ -32,10 +32,11 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef PUBLISHER_H_
-#define PUBLISHER_H_
+#ifndef _ROS_PUBLISHER_H_
+#define _ROS_PUBLISHER_H_
 
-#include "node_output.h"
+#include "rosserial_msgs/TopicInfo.h"
+#include "node_handle.h"
 
 namespace ros{
 
@@ -43,17 +44,23 @@
   class Publisher
   {
     public:
-      Publisher( const char * topic_name, Msg * msg ): topic_(topic_name), msg_(msg){};
-      int publish( Msg * msg ){
-          return no_->publish(id_, msg_);
-      };
+      Publisher( const char * topic_name, Msg * msg, int endpoint=rosserial_msgs::TopicInfo::ID_PUBLISHER) :
+        topic_(topic_name), 
+        msg_(msg),
+        endpoint_(endpoint) {};
+
+      int publish( const Msg * msg ) { return nh_->publish(id_, msg); };
+      int getEndpointType(){ return endpoint_; }
 
       const char * topic_;
 
       Msg *msg_;
-      short id_;
-      NodeOutput_* no_;
+      // id_ and no_ are set by NodeHandle when we advertise 
+      int16_t id_;
+      NodeHandleBase_* nh_;
 
+    private:
+      int endpoint_;
   };
 
 }