Program Listing for File subscriber_plugin.hpp

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// Copyright (c) 2009, Willow Garage, Inc.
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//
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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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#ifndef IMAGE_TRANSPORT__SUBSCRIBER_PLUGIN_HPP_
#define IMAGE_TRANSPORT__SUBSCRIBER_PLUGIN_HPP_

#include <memory>
#include <string>

#include "rclcpp/macros.hpp"
#include "rclcpp/node.hpp"
#include "sensor_msgs/msg/image.hpp"

#include "image_transport/visibility_control.hpp"

namespace image_transport
{

class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
{
public:
  SubscriberPlugin() = default;
  SubscriberPlugin(const SubscriberPlugin &) = delete;
  SubscriberPlugin & operator=(const SubscriberPlugin &) = delete;

  virtual ~SubscriberPlugin() {}

  typedef std::function<void (const sensor_msgs::msg::Image::ConstSharedPtr &)> Callback;

  virtual std::string getTransportName() const = 0;

  void subscribe(
    rclcpp::Node * node, const std::string & base_topic,
    const Callback & callback,
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
  {
    return subscribeImpl(node, base_topic, callback, custom_qos, options);
  }

  void subscribe(
    rclcpp::Node * node, const std::string & base_topic,
    void (* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
  {
    return subscribe(
      node, base_topic,
      std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr &)>(fp),
      custom_qos, options);
  }

  template<class T>
  void subscribe(
    rclcpp::Node * node, const std::string & base_topic,
    void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &), T * obj,
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
  {
    return subscribe(
      node, base_topic,
      std::bind(fp, obj, std::placeholders::_1), custom_qos, options);
  }

  template<class T>
  void subscribe(
    rclcpp::Node * node, const std::string & base_topic,
    void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
    std::shared_ptr<T> & obj,
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
  {
    return subscribe(
      node, base_topic,
      std::bind(fp, obj, std::placeholders::_1), custom_qos);
  }

  virtual std::string getTopic() const = 0;

  virtual size_t getNumPublishers() const = 0;

  virtual void shutdown() = 0;

  static std::string getLookupName(const std::string & transport_type)
  {
    return "image_transport/" + transport_type + "_sub";
  }

protected:
  virtual void subscribeImpl(
    rclcpp::Node * node,
    const std::string & base_topic,
    const Callback & callback,
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default) = 0;

  virtual void subscribeImpl(
    rclcpp::Node * node,
    const std::string & base_topic,
    const Callback & callback,
    rmw_qos_profile_t custom_qos,
    rclcpp::SubscriptionOptions options)
  {
    (void) options;
    RCLCPP_ERROR(
      node->get_logger(),
      "SubscriberPlugin::subscribeImpl with five arguments has not been overridden");
    this->subscribeImpl(node, base_topic, callback, custom_qos);
  }
};

}  // namespace image_transport

#endif  // IMAGE_TRANSPORT__SUBSCRIBER_PLUGIN_HPP_