Program Listing for File single_subscriber_publisher.hpp
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// Copyright (c) 2009, Willow Garage, Inc.
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#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_