Program Listing for File subscriber_filter.hpp

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// 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:
//
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//      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__SUBSCRIBER_FILTER_HPP_
#define IMAGE_TRANSPORT__SUBSCRIBER_FILTER_HPP_

#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "message_filters/simple_filter.h"

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

namespace image_transport
{

class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::Image>
{
public:
  IMAGE_TRANSPORT_PUBLIC
  SubscriberFilter(
    rclcpp::Node * node, const std::string & base_topic,
    const std::string & transport)
  {
    subscribe(node, base_topic, transport);
  }

  IMAGE_TRANSPORT_PUBLIC
  SubscriberFilter()
  {
  }

  IMAGE_TRANSPORT_PUBLIC
  ~SubscriberFilter()
  {
    unsubscribe();
  }

  IMAGE_TRANSPORT_PUBLIC
  void subscribe(
    rclcpp::Node * node,
    const std::string & base_topic,
    const std::string & transport,
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
  {
    unsubscribe();
    sub_ = image_transport::create_subscription(
      node, base_topic,
      std::bind(&SubscriberFilter::cb, this, std::placeholders::_1), transport, custom_qos,
      options);
  }

  IMAGE_TRANSPORT_PUBLIC
  void unsubscribe()
  {
    sub_.shutdown();
  }

  IMAGE_TRANSPORT_PUBLIC
  std::string getTopic() const
  {
    return sub_.getTopic();
  }

  IMAGE_TRANSPORT_PUBLIC
  size_t getNumPublishers() const
  {
    return sub_.getNumPublishers();
  }

  IMAGE_TRANSPORT_PUBLIC
  std::string getTransport() const
  {
    return sub_.getTransport();
  }

  IMAGE_TRANSPORT_PUBLIC
  const Subscriber & getSubscriber() const
  {
    return sub_;
  }

private:
  void cb(const sensor_msgs::msg::Image::ConstSharedPtr & m)
  {
    signalMessage(m);
  }

  Subscriber sub_;
};

}  // namespace image_transport

#endif  // IMAGE_TRANSPORT__SUBSCRIBER_FILTER_HPP_