Program Listing for File simple_subscriber_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:
//
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//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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//      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__SIMPLE_SUBSCRIBER_PLUGIN_HPP_
#define IMAGE_TRANSPORT__SIMPLE_SUBSCRIBER_PLUGIN_HPP_

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

#include "rclcpp/subscription.hpp"

#include "image_transport/subscriber_plugin.hpp"
#include "image_transport/visibility_control.hpp"

namespace image_transport
{

template<class M>
class SimpleSubscriberPlugin : public SubscriberPlugin
{
public:
  virtual ~SimpleSubscriberPlugin() {}

  std::string getTopic() const override
  {
    if (impl_) {
      return impl_->sub_->get_topic_name();
    }
    return std::string();
  }

  size_t getNumPublishers() const override
  {
    if (impl_) {
      return impl_->sub_->get_publisher_count();
    }
    return 0;
  }

  void shutdown() override
  {
    impl_.reset();
  }

protected:
  virtual void internalCallback(
    const typename std::shared_ptr<const M> & message,
    const Callback & user_cb) = 0;

  virtual std::string getTopicToSubscribe(const std::string & base_topic) const
  {
    return base_topic + "/" + getTransportName();
  }

  void subscribeImpl(
    rclcpp::Node * node,
    const std::string & base_topic,
    const Callback & callback,
    rmw_qos_profile_t custom_qos) override
  {
    impl_ = std::make_unique<Impl>();
    // Push each group of transport-specific parameters into a separate sub-namespace
    // ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
    //
    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
    impl_->sub_ = node->create_subscription<M>(
      getTopicToSubscribe(base_topic), qos,
      [this, callback](const typename std::shared_ptr<const M> msg) {
        internalCallback(msg, callback);
      });
  }

  void subscribeImplWithOptions(
    rclcpp::Node * node,
    const std::string & base_topic,
    const Callback & callback,
    rmw_qos_profile_t custom_qos,
    rclcpp::SubscriptionOptions options)
  {
    impl_ = std::make_unique<Impl>();
    // Push each group of transport-specific parameters into a separate sub-namespace
    // ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
    //
    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
    impl_->sub_ = node->create_subscription<M>(
      getTopicToSubscribe(base_topic), qos,
      [this, callback](const typename std::shared_ptr<const M> msg) {
        internalCallback(msg, callback);
      },
      options);
  }

private:
  struct Impl
  {
    rclcpp::SubscriptionBase::SharedPtr sub_;
  };

  std::unique_ptr<Impl> impl_;
};

}  // namespace image_transport

#endif  // IMAGE_TRANSPORT__SIMPLE_SUBSCRIBER_PLUGIN_HPP_