.. _program_listing_file__tmp_ws_src_image_common_image_transport_include_image_transport_publisher_plugin.hpp:

Program Listing for File publisher_plugin.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_image_common_image_transport_include_image_transport_publisher_plugin.hpp>` (``/tmp/ws/src/image_common/image_transport/include/image_transport/publisher_plugin.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2009, Willow Garage, Inc.
   //
   // 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 the Willow Garage nor the names of its
   //      contributors may be used to endorse or promote products 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 HOLDER 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 IMAGE_TRANSPORT__PUBLISHER_PLUGIN_HPP_
   #define IMAGE_TRANSPORT__PUBLISHER_PLUGIN_HPP_
   
   #include <string>
   #include <vector>
   
   #include "rclcpp/node.hpp"
   #include "sensor_msgs/msg/image.hpp"
   
   #include "image_transport/single_subscriber_publisher.hpp"
   #include "image_transport/visibility_control.hpp"
   
   namespace image_transport
   {
   
   class PublisherPlugin
   {
   public:
     PublisherPlugin() = default;
     PublisherPlugin(const PublisherPlugin &) = delete;
     PublisherPlugin & operator=(const PublisherPlugin &) = delete;
   
     virtual ~PublisherPlugin() {}
   
     virtual std::string getTransportName() const = 0;
   
     void advertise(
       rclcpp::Node * nh,
       const std::string & base_topic,
       rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
     {
       advertiseImpl(nh, base_topic, custom_qos);
     }
   
     virtual size_t getNumSubscribers() const = 0;
   
     virtual std::string getTopic() const = 0;
   
     virtual void publish(const sensor_msgs::msg::Image & message) const = 0;
   
     virtual void publishPtr(const sensor_msgs::msg::Image::ConstSharedPtr & message) const
     {
       publish(*message);
     }
   
     virtual void publishData(const sensor_msgs::msg::Image & message, const uint8_t * data) const
     {
       sensor_msgs::msg::Image msg;
       msg.header = message.header;
       msg.height = message.height;
       msg.width = message.width;
       msg.encoding = message.encoding;
       msg.is_bigendian = message.is_bigendian;
       msg.step = message.step;
       msg.data = std::vector<uint8_t>(data, data + msg.step * msg.height);
   
       publish(msg);
     }
   
     virtual void shutdown() = 0;
   
     static std::string getLookupName(const std::string & transport_name)
     {
       return "image_transport/" + transport_name + "_pub";
     }
   
   protected:
     virtual void advertiseImpl(
       rclcpp::Node * nh, const std::string & base_topic,
       rmw_qos_profile_t custom_qos) = 0;
   };
   
   }  // namespace image_transport
   
   #endif  // IMAGE_TRANSPORT__PUBLISHER_PLUGIN_HPP_