.. _program_listing_file__tmp_ws_src_image_common_image_transport_include_image_transport_subscriber_plugin.hpp:

Program Listing for File subscriber_plugin.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_image_common_image_transport_include_image_transport_subscriber_plugin.hpp>` (``/tmp/ws/src/image_common/image_transport/include/image_transport/subscriber_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__SUBSCRIBER_PLUGIN_HPP_
   #define IMAGE_TRANSPORT__SUBSCRIBER_PLUGIN_HPP_
   
   #include <memory>
   #include <string>
   
   #include "rclcpp/macros.hpp"
   #include "rclcpp/node.hpp"
   #include "sensor_msgs/msg/image.hpp"
   
   #include "image_transport/visibility_control.hpp"
   
   namespace image_transport
   {
   
   class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
   {
   public:
     SubscriberPlugin() = default;
     SubscriberPlugin(const SubscriberPlugin &) = delete;
     SubscriberPlugin & operator=(const SubscriberPlugin &) = delete;
   
     virtual ~SubscriberPlugin() {}
   
     typedef std::function<void (const sensor_msgs::msg::Image::ConstSharedPtr &)> Callback;
   
     virtual std::string getTransportName() const = 0;
   
     void subscribe(
       rclcpp::Node * node, const std::string & base_topic,
       const Callback & callback,
       rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
       rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
     {
       return subscribeImpl(node, base_topic, callback, custom_qos, options);
     }
   
     void subscribe(
       rclcpp::Node * node, const std::string & base_topic,
       void (* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
       rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
       rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
     {
       return subscribe(
         node, base_topic,
         std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr &)>(fp),
         custom_qos, options);
     }
   
     template<class T>
     void subscribe(
       rclcpp::Node * node, const std::string & base_topic,
       void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &), T * obj,
       rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
       rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
     {
       return subscribe(
         node, base_topic,
         std::bind(fp, obj, std::placeholders::_1), custom_qos, options);
     }
   
     template<class T>
     void subscribe(
       rclcpp::Node * node, const std::string & base_topic,
       void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
       std::shared_ptr<T> & obj,
       rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
     {
       return subscribe(
         node, base_topic,
         std::bind(fp, obj, std::placeholders::_1), custom_qos);
     }
   
     virtual std::string getTopic() const = 0;
   
     virtual size_t getNumPublishers() const = 0;
   
     virtual void shutdown() = 0;
   
     static std::string getLookupName(const std::string & transport_type)
     {
       return "image_transport/" + transport_type + "_sub";
     }
   
   protected:
     virtual void subscribeImpl(
       rclcpp::Node * node,
       const std::string & base_topic,
       const Callback & callback,
       rmw_qos_profile_t custom_qos = rmw_qos_profile_default) = 0;
   
     virtual void subscribeImpl(
       rclcpp::Node * node,
       const std::string & base_topic,
       const Callback & callback,
       rmw_qos_profile_t custom_qos,
       rclcpp::SubscriptionOptions options)
     {
       (void) options;
       RCLCPP_ERROR(
         node->get_logger(),
         "SubscriberPlugin::subscribeImpl with five arguments has not been overridden");
       this->subscribeImpl(node, base_topic, callback, custom_qos);
     }
   };
   
   }  // namespace image_transport
   
   #endif  // IMAGE_TRANSPORT__SUBSCRIBER_PLUGIN_HPP_