.. _program_listing_file_include_rclcpp_publisher_factory.hpp:

Program Listing for File publisher_factory.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_publisher_factory.hpp>` (``include/rclcpp/publisher_factory.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__PUBLISHER_FACTORY_HPP_
   #define RCLCPP__PUBLISHER_FACTORY_HPP_
   
   #include <functional>
   #include <memory>
   #include <string>
   
   #include "rcl/publisher.h"
   
   #include "rosidl_typesupport_cpp/message_type_support.hpp"
   
   #include "rclcpp/publisher.hpp"
   #include "rclcpp/publisher_base.hpp"
   #include "rclcpp/publisher_options.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/qos.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   
   
   struct PublisherFactory
   {
     // Creates a PublisherT<MessageT, ...> publisher object and returns it as a PublisherBase.
     using PublisherFactoryFunction = std::function<
       rclcpp::PublisherBase::SharedPtr(
         rclcpp::node_interfaces::NodeBaseInterface * node_base,
         const std::string & topic_name,
         const rclcpp::QoS & qos
       )>;
   
     const PublisherFactoryFunction create_typed_publisher;
   };
   
   template<typename MessageT, typename AllocatorT, typename PublisherT>
   PublisherFactory
   create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
   {
     PublisherFactory factory {
       // factory function that creates a MessageT specific PublisherT
       [options](
         rclcpp::node_interfaces::NodeBaseInterface * node_base,
         const std::string & topic_name,
         const rclcpp::QoS & qos
       ) -> std::shared_ptr<PublisherT>
       {
         auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
         // This is used for setting up things like intra process comms which
         // require this->shared_from_this() which cannot be called from
         // the constructor.
         publisher->post_init_setup(node_base, topic_name, qos, options);
         return publisher;
       }
     };
   
     // return the factory now that it is populated
     return factory;
   }
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__PUBLISHER_FACTORY_HPP_