Program Listing for File image_transport.hpp

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// Copyright (c) 2009, Willow Garage, Inc.
//
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// modification, are permitted provided that the following conditions are met:
//
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#ifndef IMAGE_TRANSPORT__IMAGE_TRANSPORT_HPP_
#define IMAGE_TRANSPORT__IMAGE_TRANSPORT_HPP_

#include <functional>
#include <memory>
#include <string>
#include <vector>

#include "rclcpp/node.hpp"

#include "image_transport/camera_publisher.hpp"
#include "image_transport/camera_subscriber.hpp"
#include "image_transport/publisher.hpp"
#include "image_transport/subscriber.hpp"
#include "image_transport/transport_hints.hpp"
#include "image_transport/visibility_control.hpp"

namespace image_transport
{

IMAGE_TRANSPORT_PUBLIC
Publisher create_publisher(
  rclcpp::Node * node,
  const std::string & base_topic,
  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
Subscriber create_subscription(
  rclcpp::Node * node,
  const std::string & base_topic,
  const Subscriber::Callback & callback,
  const std::string & transport,
  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
  rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());

IMAGE_TRANSPORT_PUBLIC
CameraPublisher create_camera_publisher(
  rclcpp::Node * node,
  const std::string & base_topic,
  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
CameraSubscriber create_camera_subscription(
  rclcpp::Node * node,
  const std::string & base_topic,
  const CameraSubscriber::Callback & callback,
  const std::string & transport,
  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
std::vector<std::string> getDeclaredTransports();

IMAGE_TRANSPORT_PUBLIC
std::vector<std::string> getLoadableTransports();

class ImageTransport
{
public:
  using VoidPtr = std::shared_ptr<void>;
  using ImageConstPtr = sensor_msgs::msg::Image::ConstSharedPtr;
  using CameraInfoConstPtr = sensor_msgs::msg::CameraInfo::ConstSharedPtr;

  IMAGE_TRANSPORT_PUBLIC
  explicit ImageTransport(rclcpp::Node::SharedPtr node);

  IMAGE_TRANSPORT_PUBLIC
  ~ImageTransport();

  IMAGE_TRANSPORT_PUBLIC
  Publisher advertise(const std::string & base_topic, uint32_t queue_size, bool latch = false);

  /* TODO(ros2) Implement when SubscriberStatusCallback is available
   * Publisher advertise(const std::string& base_topic, uint32_t queue_size,
   *                    const SubscriberStatusCallback& connect_cb,
   *                    const SubscriberStatusCallback& disconnect_cb = SubscriberStatusCallback(),
   *                    const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
   */

  IMAGE_TRANSPORT_PUBLIC
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    const Subscriber::Callback & callback,
    const VoidPtr & tracked_object = VoidPtr(),
    const TransportHints * transport_hints = nullptr);

  IMAGE_TRANSPORT_PUBLIC
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    const Subscriber::Callback & callback,
    const VoidPtr & tracked_object,
    const TransportHints * transport_hints,
    const rclcpp::SubscriptionOptions options);

  IMAGE_TRANSPORT_PUBLIC
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    void (* fp)(const ImageConstPtr &),
    const TransportHints * transport_hints = nullptr)
  {
    return subscribe(
      base_topic, queue_size,
      std::function<void(const ImageConstPtr &)>(fp),
      VoidPtr(), transport_hints, rclcpp::SubscriptionOptions());
  }

  IMAGE_TRANSPORT_PUBLIC
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    void (* fp)(const ImageConstPtr &),
    const TransportHints * transport_hints,
    const rclcpp::SubscriptionOptions options)
  {
    return subscribe(
      base_topic, queue_size,
      std::function<void(const ImageConstPtr &)>(fp),
      VoidPtr(), transport_hints, options);
  }

  template<class T>
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    void (T::* fp)(const ImageConstPtr &), T * obj,
    const TransportHints * transport_hints = nullptr)
  {
    return subscribe(
      base_topic, queue_size, std::bind(fp, obj, std::placeholders::_1),
      VoidPtr(), transport_hints);
  }

  template<class T>
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    void (T::* fp)(const ImageConstPtr &), T * obj,
    const TransportHints * transport_hints,
    const rclcpp::SubscriptionOptions options)
  {
    return subscribe(
      base_topic, queue_size, std::bind(fp, obj, std::placeholders::_1),
      VoidPtr(), transport_hints, options);
  }

  template<class T>
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    void (T::* fp)(const ImageConstPtr &),
    const std::shared_ptr<T> & obj,
    const TransportHints * transport_hints = nullptr)
  {
    return subscribe(
      base_topic, queue_size, std::bind(fp, obj.get(), std::placeholders::_1),
      obj, transport_hints);
  }

  template<class T>
  Subscriber subscribe(
    const std::string & base_topic, uint32_t queue_size,
    void (T::* fp)(const ImageConstPtr &),
    const std::shared_ptr<T> & obj,
    const TransportHints * transport_hints,
    const rclcpp::SubscriptionOptions options)
  {
    return subscribe(
      base_topic, queue_size, std::bind(fp, obj.get(), std::placeholders::_1),
      obj, transport_hints, options);
  }

  IMAGE_TRANSPORT_PUBLIC
  CameraPublisher advertiseCamera(
    const std::string & base_topic, uint32_t queue_size,
    bool latch = false);

  /* TODO(ros2) Implement when SubscriberStatusCallback is available
   * CameraPublisher advertiseCamera(const std::string& base_topic, uint32_t queue_size,
   *                                const SubscriberStatusCallback& image_connect_cb,
   *                                const SubscriberStatusCallback& image_disconnect_cb = SubscriberStatusCallback(),
   *                                const ros::SubscriberStatusCallback& info_connect_cb = ros::SubscriberStatusCallback(),
   *                                const ros::SubscriberStatusCallback& info_disconnect_cb = ros::SubscriberStatusCallback(),
   *                                const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = false);
   */

  IMAGE_TRANSPORT_PUBLIC
  CameraSubscriber subscribeCamera(
    const std::string & base_topic, uint32_t queue_size,
    const CameraSubscriber::Callback & callback,
    const VoidPtr & tracked_object = VoidPtr(),
    const TransportHints * transport_hints = nullptr);

  IMAGE_TRANSPORT_PUBLIC
  CameraSubscriber subscribeCamera(
    const std::string & base_topic, uint32_t queue_size,
    void (* fp)(
      const ImageConstPtr &,
      const CameraInfoConstPtr &),
    const TransportHints * transport_hints = nullptr)
  {
    return subscribeCamera(
      base_topic, queue_size, CameraSubscriber::Callback(fp), VoidPtr(),
      transport_hints);
  }

  template<class T>
  CameraSubscriber subscribeCamera(
    const std::string & base_topic, uint32_t queue_size,
    void (T::* fp)(
      const ImageConstPtr &,
      const CameraInfoConstPtr &), T * obj,
    const TransportHints * transport_hints = nullptr)
  {
    return subscribeCamera(
      base_topic, queue_size,
      std::bind(fp, obj, std::placeholders::_1, std::placeholders::_2), VoidPtr(),
      transport_hints);
  }

  template<class T>
  CameraSubscriber subscribeCamera(
    const std::string & base_topic, uint32_t queue_size,
    void (T::* fp)(
      const ImageConstPtr &,
      const CameraInfoConstPtr &),
    const std::shared_ptr<T> & obj,
    const TransportHints * transport_hints = nullptr)
  {
    return subscribeCamera(
      base_topic, queue_size,
      std::bind(fp, obj.get(), std::placeholders::_1, std::placeholders::_2), obj,
      transport_hints);
  }


  IMAGE_TRANSPORT_PUBLIC
  std::vector<std::string> getDeclaredTransports() const;

  IMAGE_TRANSPORT_PUBLIC
  std::vector<std::string> getLoadableTransports() const;

private:
  std::string getTransportOrDefault(const TransportHints * transport_hints);

  struct Impl;
  std::unique_ptr<Impl> impl_;
};

}  // namespace image_transport

#endif  // IMAGE_TRANSPORT__IMAGE_TRANSPORT_HPP_