Quadrotor

/* 

 * Software License Agreement (BSD License)

 *

 * Copyright (c) 2011, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions

 * are met:

 *

 *  * Redistributions of source code must retain the above copyright

 *    notice, this list of conditions and the following disclaimer.

 *  * 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.

 *  * Neither the name of Willow Garage, Inc. nor the names of its

 *    contributors may be used to endorse or promote prducts 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 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

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 */

#ifndef _ROS_PUBLISHER_H_

#define _ROS_PUBLISHER_H_

#include "rosserial_msgs/TopicInfo.h"

#include "node_handle.h"

namespace ros {

  /* Generic Publisher */

  class Publisher

  {

    public:

      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_;

      // id_ and no_ are set by NodeHandle when we advertise 

      int id_;

      NodeHandleBase_* nh_;

    private:

      int endpoint_;

  };

}

#endif