void ConnectionBasedNodelet::imageConnectionCallback(
const image_transport::SingleSubscriberPublisher& pub)
{
if (verbose_connection_) {
JSK_NODELET_INFO("New image connection or disconnection is detected");
}
if (!always_subscribe_) {
boost::mutex::scoped_lock lock(connection_mutex_);
for (size_t i = 0; i < image_publishers_.size(); i++) {
image_transport::Publisher pub = image_publishers_[i];
if (pub.getNumSubscribers() > 0) {
if (!ever_subscribed_) {
ever_subscribed_ = true;
}
if (connection_status_ != SUBSCRIBED) {
if (verbose_connection_) {
JSK_NODELET_INFO("Subscribe input topics");
}
subscribe();
connection_status_ = SUBSCRIBED;
}
return;
}
}
if (connection_status_ == SUBSCRIBED) {
if (verbose_connection_) {
JSK_NODELET_INFO("Unsubscribe input topics");
}
unsubscribe();
connection_status_ = NOT_SUBSCRIBED;
}
}
}
void disconnectCallback (const image_transport::SingleSubscriberPublisher& ssp)
{
// Shut down the publication when the subscription count drops to zero.
if (ssp.getNumSubscribers() == 0)
{
ROS_INFO ("Shutting down %s", ssp.getTopic().c_str());
client_map_.erase (ssp.getTopic());
}
}
virtual void onSubscriptionChanged(const image_transport::SingleSubscriberPublisher& topic)
{
if(topic.getNumSubscribers() > 0)
{
if(!running_ && stream_.start() == STATUS_OK)
{
running_ = true;
}
}
else
{
stream_.stop();
running_ = false;
}
}