Program Listing for File publisher_plugin.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:
//
//    * 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.
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//    * 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.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#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_