.. _program_listing_file__tmp_ws_src_ros1_bridge_include_ros1_bridge_factory_interface.hpp:

Program Listing for File factory_interface.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros1_bridge_include_ros1_bridge_factory_interface.hpp>` (``/tmp/ws/src/ros1_bridge/include/ros1_bridge/factory_interface.hpp``)

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

.. code-block:: cpp

   // Copyright 2015 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  ROS1_BRIDGE__FACTORY_INTERFACE_HPP_
   #define  ROS1_BRIDGE__FACTORY_INTERFACE_HPP_
   
   #include <string>
   #include <vector>
   
   // include ROS 1
   #include "ros/node_handle.h"
   #include "ros/publisher.h"
   #include "ros/subscriber.h"
   
   // include ROS 2
   #include "rclcpp/node.hpp"
   #include "rclcpp/publisher.hpp"
   #include "rclcpp/subscription.hpp"
   
   namespace ros1_bridge
   {
   
   struct ServiceBridge1to2
   {
     ros::ServiceServer server;
     rclcpp::ClientBase::SharedPtr client;
   };
   
   struct ServiceBridge2to1
   {
     rclcpp::ServiceBase::SharedPtr server;
     ros::ServiceClient client;
   };
   
   class FactoryInterface
   {
   public:
     virtual
     ros::Publisher
     create_ros1_publisher(
       ros::NodeHandle node,
       const std::string & topic_name,
       size_t queue_size,
       bool latch = false) = 0;
   
     virtual
     rclcpp::PublisherBase::SharedPtr
     create_ros2_publisher(
       rclcpp::Node::SharedPtr node,
       const std::string & topic_name,
       size_t queue_size) = 0;
   
     virtual
     rclcpp::PublisherBase::SharedPtr
     create_ros2_publisher(
       rclcpp::Node::SharedPtr node,
       const std::string & topic_name,
       const rmw_qos_profile_t & qos_profile) = 0;
   
     virtual
     rclcpp::PublisherBase::SharedPtr
     create_ros2_publisher(
       rclcpp::Node::SharedPtr node,
       const std::string & topic_name,
       const rclcpp::QoS & qos) = 0;
   
     virtual
     ros::Subscriber
     create_ros1_subscriber(
       ros::NodeHandle node,
       const std::string & topic_name,
       size_t queue_size,
       rclcpp::PublisherBase::SharedPtr ros2_pub,
       rclcpp::Logger logger) = 0;
   
     virtual
     rclcpp::SubscriptionBase::SharedPtr
     create_ros2_subscriber(
       rclcpp::Node::SharedPtr node,
       const std::string & topic_name,
       size_t queue_size,
       ros::Publisher ros1_pub,
       rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
   
     virtual
     rclcpp::SubscriptionBase::SharedPtr
     create_ros2_subscriber(
       rclcpp::Node::SharedPtr node,
       const std::string & topic_name,
       const rmw_qos_profile_t & qos_profile,
       ros::Publisher ros1_pub,
       rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
   
     virtual
     rclcpp::SubscriptionBase::SharedPtr
     create_ros2_subscriber(
       rclcpp::Node::SharedPtr node,
       const std::string & topic_name,
       const rclcpp::QoS & qos,
       ros::Publisher ros1_pub,
       rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
   
     virtual
     void
     convert_1_to_2(const void * ros1_msg, void * ros2_msg) const = 0;
   
     virtual
     void
     convert_2_to_1(const void * ros2_msg, void * ros1_msg) const = 0;
   
     virtual
     bool convert_2_to_1_generic(
       const rclcpp::SerializedMessage & ros2_msg,
       std::vector<uint8_t> & ros1_msg) const = 0;
   
     virtual
     bool convert_1_to_2_generic(
       const std::vector<uint8_t> & ros1_msg,
       rclcpp::SerializedMessage & ros2_msg) const = 0;
   
     virtual const char * get_ros1_md5sum() const = 0;
     virtual const char * get_ros1_data_type() const = 0;
     virtual const char * get_ros1_message_definition() const = 0;
   };
   
   class ServiceFactoryInterface
   {
   public:
     virtual ServiceBridge1to2 service_bridge_1_to_2(
       ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &, int) = 0;
   
     virtual ServiceBridge2to1 service_bridge_2_to_1(
       ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &) = 0;
   };
   
   }  // namespace ros1_bridge
   
   #endif  // ROS1_BRIDGE__FACTORY_INTERFACE_HPP_