bundles/addons/org.eclipse.apogy.addons.ros/src-gen-custom/org/eclipse/apogy/addons/ros/impl/ROSPublisherCustomImpl.java

/*******************************************************************************
 * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency 
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:
 *     Pierre Allard, 
 *     Regent L'Archeveque,
 *     Sebastien Gemme - initial API and implementation
 * SPDX-License-Identifier: EPL-1.0
 *     
 *******************************************************************************/
package org.eclipse.apogy.addons.ros.impl;

import org.eclipse.apogy.addons.ros.ROSNode;
import org.eclipse.apogy.addons.ros.utilities.AsynchronousShutdowner;
import org.ros.internal.message.Message;
import org.ros.node.topic.Publisher;

public class ROSPublisherCustomImpl<T extends Message> extends ROSPublisherImpl<T> {
	@Override
	public boolean isLaunched() {
		this.launched = (this.publisher != null);
		return this.launched;
	}

	@Override
	@SuppressWarnings("unchecked")
	public void launch(ROSNode node) {
		setNode(node);
		setPublisher((Publisher<T>) node.createPublisher(getTopicName(), getMessageType()));
	}

	@Override
	public void publish(T message) {
		if (isLaunched())
			getPublisher().publish(message);
	}

	@Override
	public T newMessage() {
		if (isLaunched())
			return getPublisher().newMessage();
		else
			return null;
	}

	@Override
	public void stop() {
		try {
			AsynchronousShutdowner.add(getPublisher());
		} catch (Exception e) {
		}

		setPublisher(null);
	}

} // ROSPublisherImpl