KaCanOpen
 All Classes Functions Variables Typedefs Enumerations Pages
publisher.h
1 /*
2  * Copyright (c) 2015-2016, Thomas Keh
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  *
11  * 2. Redistributions in binary form must reproduce the above copyright
12  * notice, this list of conditions and the following disclaimer in the
13  * documentation and/or other materials provided with the distribution.
14  *
15  * 3. Neither the name of the copyright holder nor the names of its
16  * contributors may be used to endorse or promote products derived from
17  * this software without specific prior written permission.
18  *
19  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
22  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
23  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
24  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
25  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
26  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
27  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
28  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
29  * POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #pragma once
33 
34 namespace kaco {
35 
37  class Publisher {
38 
39  public:
40 
44  virtual void advertise() = 0;
45 
47  virtual void publish() = 0;
48 
49  // Virtual destructor must be defined!
50  virtual ~Publisher() { }
51 
52  };
53 
54 } // end namespace kaco
virtual void publish()=0
This will be called repeatedly by kaco::Bridge::run()
Interface, which provides methods for publishing topics.
Definition: publisher.h:37
virtual void advertise()=0
Advertise the publisher to the network. This is called by Bridge after ros::init(). You should not call this method by yourself.