bridge.cpp

/*
 * Copyright (c) 2015-2016, Thomas Keh
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. 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.
 *
 *    3. Neither the name of the copyright holder 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 HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include "bridge.h"
#include "logger.h"
#include "sdo_error.h"
#include "ros/ros.h"

#include <future>

namespace kaco {

void Bridge::add_publisher(std::shared_ptr<Publisher> publisher, double loop_rate) {
    m_publishers.push_back(publisher);
    publisher->advertise();
    m_futures.push_front(
        std::async(std::launch::async, [publisher,loop_rate,this](){
            ros::Rate rate(loop_rate);
            while(ros::ok()) {
                publisher->publish();
                rate.sleep();
            }
        })
    );
}

void Bridge::add_subscriber(std::shared_ptr<Subscriber> subscriber) {
    m_subscribers.push_back(subscriber);
    subscriber->advertise();
}

void Bridge::run() {
    ros::AsyncSpinner spinner(0);
    spinner.start();
    ros::waitForShutdown();
}

} // end namespace kaco