.. _program_listing_file__tmp_ws_src_image_common_image_transport_include_image_transport_single_subscriber_publisher.hpp:

Program Listing for File single_subscriber_publisher.hpp
========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_image_common_image_transport_include_image_transport_single_subscriber_publisher.hpp>` (``/tmp/ws/src/image_common/image_transport/include/image_transport/single_subscriber_publisher.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__SINGLE_SUBSCRIBER_PUBLISHER_HPP_
   #define IMAGE_TRANSPORT__SINGLE_SUBSCRIBER_PUBLISHER_HPP_
   
   #include <functional>
   #include <string>
   
   #include "rclcpp/macros.hpp"
   #include "sensor_msgs/msg/image.hpp"
   
   #include "image_transport/visibility_control.hpp"
   
   namespace image_transport
   {
   
   class SingleSubscriberPublisher
   {
   private:
     SingleSubscriberPublisher(const SingleSubscriberPublisher &) = delete;
     SingleSubscriberPublisher & operator=(const SingleSubscriberPublisher &) = delete;
   
   public:
     typedef std::function<size_t ()> GetNumSubscribersFn;
     typedef std::function<void (const sensor_msgs::msg::Image &)> PublishFn;
   
     IMAGE_TRANSPORT_PUBLIC
     SingleSubscriberPublisher(
       const std::string & caller_id, const std::string & topic,
       const GetNumSubscribersFn & num_subscribers_fn,
       const PublishFn & publish_fn);
   
     IMAGE_TRANSPORT_PUBLIC
     std::string getSubscriberName() const;
   
     IMAGE_TRANSPORT_PUBLIC
     std::string getTopic() const;
   
     IMAGE_TRANSPORT_PUBLIC
     size_t getNumSubscribers() const;
   
     IMAGE_TRANSPORT_PUBLIC
     void publish(const sensor_msgs::msg::Image & message) const;
   
     IMAGE_TRANSPORT_PUBLIC
     void publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const;
   
   private:
     std::string caller_id_;
     std::string topic_;
     GetNumSubscribersFn num_subscribers_fn_;
     PublishFn publish_fn_;
   
     friend class Publisher;  // to get publish_fn_ directly
   };
   
   typedef std::function<void (const SingleSubscriberPublisher &)> SubscriberStatusCallback;
   
   }  // namespace image_transport
   
   #endif  // IMAGE_TRANSPORT__SINGLE_SUBSCRIBER_PUBLISHER_HPP_