text: /* 
   * 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,
   * 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.
   */
  
  #ifndef _ROS_PUBLISHER_H_
  #define _ROS_PUBLISHER_H_
  
  #include "rosserial_msgs/TopicInfo.h"
  #include "ros/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), 
          has_flash_topic_( false ),
          msg_(msg),
          endpoint_(endpoint) 
        {};
  	
        Publisher( const __FlashStringHelper * topic_name, Msg * msg, int endpoint=rosserial_msgs::TopicInfo::ID_PUBLISHER) :
          topic_( reinterpret_cast<const char *>( topic_name ) ), 
          has_flash_topic_( true ),
          msg_(msg),
          endpoint_(endpoint)
        {};
        
        int publish( const Msg * msg ) { return nh_->publish(id_, msg); };
        int getEndpointType(){ return endpoint_; }
  
        const char * topic_;
        bool has_flash_topic_;
        Msg *msg_;
        // id_ and no_ are set by NodeHandle when we advertise 
        int id_;
        NodeHandleBase_* nh_;
  
      private:
        int endpoint_;
    };
  
  }
  
  #endif
  