/usr/include/image_transport/publisher.h

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#ifndef IMAGE_TRANSPORT_PUBLISHER_H
#define IMAGE_TRANSPORT_PUBLISHER_H

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include "image_transport/single_subscriber_publisher.h"
#include "image_transport/exception.h"
#include "image_transport/loader_fwds.h"

namespace image_transport {

/**
 * \brief Manages advertisements of multiple transport options on an Image topic.
 *
 * Publisher is a drop-in replacement for ros::Publisher when publishing
 * Image topics. In a minimally built environment, they behave the same; however,
 * Publisher is extensible via plugins to publish alternative representations of
 * the image on related subtopics. This is especially useful for limiting bandwidth and
 * latency over a network connection, when you might (for example) use the theora plugin
 * to transport the images as streamed video. All topics are published only on demand
 * (i.e. if there are subscribers).
 *
 * A Publisher should always be created through a call to ImageTransport::advertise(),
 * or copied from one that was.
 * Once all copies of a specific Publisher go out of scope, any subscriber callbacks
 * associated with that handle will stop being called. Once all Publisher for a
 * given base topic go out of scope the topic (and all subtopics) will be unadvertised.
 */
class Publisher
{
public:
  Publisher() {}

  /*!
   * \brief Returns the number of subscribers that are currently connected to
   * this Publisher.
   *
   * Returns the total number of subscribers to all advertised topics.
   */
  uint32_t getNumSubscribers() const;

  /*!
   * \brief Returns the base topic of this Publisher.
   */
  std::string getTopic() const;

  /*!
   * \brief Publish an image on the topics associated with this Publisher.
   */
  void publish(const sensor_msgs::Image& message) const;

  /*!
   * \brief Publish an image on the topics associated with this Publisher.
   */
  void publish(const sensor_msgs::ImageConstPtr& message) const;

  /*!
   * \brief Shutdown the advertisements associated with this Publisher.
   */
  void shutdown();

  operator void*() const;
  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_; }

private:
  Publisher(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
            const SubscriberStatusCallback& connect_cb,
            const SubscriberStatusCallback& disconnect_cb,
            const ros::VoidPtr& tracked_object, bool latch,
            const PubLoaderPtr& loader);

  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
  
  ImplPtr impl_;

  static void weakSubscriberCb(const ImplWPtr& impl_wptr,
                               const SingleSubscriberPublisher& plugin_pub,
                               const SubscriberStatusCallback& user_cb);
  
  SubscriberStatusCallback rebindCB(const SubscriberStatusCallback& user_cb);
  
  friend class ImageTransport;
};

} //namespace image_transport

#endif
libimage-transport-dev 1.11.10-5 / usr / include / image_transport / publisher.h
