.. _program_listing_file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_image_image_transport_display.hpp:

Program Listing for File image_transport_display.hpp
====================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_image_image_transport_display.hpp>` (``/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp``)

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

.. code-block:: cpp

   /*
   * Copyright (c) 2012, Willow Garage, Inc.
   * Copyright (c) 2017, Bosch Software Innovations GmbH.
   * Copyright (c) 2020, TNG Technology Consulting GmbH.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted (subject to the limitations in the disclaimer
   * below) provided that the following conditions are met:
   *
   *     * Redistributions of source code must retain the above copyright
   *       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.
   *     * Neither the name of the copyright holder nor the names of its
   *       contributors may be used to endorse or promote products derived from
   *       this software without specific prior written permission.
   *
   * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
   * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
   * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
   
   #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISPLAY_HPP_
   #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISPLAY_HPP_
   
   #include <memory>
   
   #include "get_transport_from_topic.hpp"
   #include "image_transport/image_transport.hpp"
   #include "image_transport/subscriber_filter.hpp"
   #include "rviz_common/ros_topic_display.hpp"
   
   namespace rviz_default_plugins
   {
   namespace displays
   {
   
   template<class MessageType>
   class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
   {
   // No Q_OBJECT macro here, moc does not support Q_OBJECT in a templated class.
   
   public:
     typedef ImageTransportDisplay<MessageType> ITDClass;
   
     ImageTransportDisplay()
     : messages_received_(0)
     {
       QString message_type = QString::fromStdString(rosidl_generator_traits::name<MessageType>());
       topic_property_->setMessageType(message_type);
       topic_property_->setDescription(message_type + " topic to subscribe to.");
     }
   
     void onInitialize() override
     {
       _RosTopicDisplay::onInitialize();
     }
   
     ~ImageTransportDisplay() override
     {
       unsubscribe();
     }
   
     void reset() override
     {
       Display::reset();
       messages_received_ = 0;
     }
   
     void setTopic(const QString & topic, const QString & datatype) override
     {
       (void) datatype;
       topic_property_->setString(topic);
     }
   
   protected:
     void updateTopic() override
     {
       resetSubscription();
     }
   
     virtual void subscribe()
     {
       if (!isEnabled()) {
         return;
       }
   
       if (topic_property_->isEmpty()) {
         setStatus(
           rviz_common::properties::StatusProperty::Error, "Topic",
           QString("Error subscribing: Empty topic name"));
         return;
       }
   
       try {
         subscription_ = std::make_shared<image_transport::SubscriberFilter>();
         rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
         subscription_->subscribe(
           node.get(),
           getBaseTopicFromTopic(topic_property_->getTopicStd()),
           getTransportFromTopic(topic_property_->getTopicStd()),
           qos_profile.get_rmw_qos_profile());
         subscription_start_time_ = node->now();
         subscription_callback_ = subscription_->registerCallback(
           std::bind(
             &ImageTransportDisplay<MessageType>::incomingMessage, this, std::placeholders::_1));
         setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
       } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
         setStatus(
           rviz_common::properties::StatusProperty::Error, "Topic",
           QString("Error subscribing: ") + e.what());
       }
     }
   
     void transformerChangedCallback() override
     {
       resetSubscription();
     }
   
     void resetSubscription()
     {
       unsubscribe();
       reset();
       subscribe();
       context_->queueRender();
     }
   
     virtual void unsubscribe()
     {
       subscription_.reset();
     }
   
     void onEnable() override
     {
       subscribe();
     }
   
     void onDisable() override
     {
       unsubscribe();
       reset();
     }
   
   
     void incomingMessage(const typename MessageType::ConstSharedPtr msg)
     {
       if (!msg) {
         return;
       }
   
       ++messages_received_;
       QString topic_str = QString::number(messages_received_) + " messages received";
       // Append topic subscription frequency if we can lock rviz_ros_node_.
       std::shared_ptr<rviz_common::ros_integration::RosNodeAbstractionIface> node_interface =
         rviz_ros_node_.lock();
       if (node_interface != nullptr) {
         const double duration =
           (node_interface->get_raw_node()->now() - subscription_start_time_).seconds();
         const double subscription_frequency =
           static_cast<double>(messages_received_) / duration;
         topic_str += " at " + QString::number(subscription_frequency, 'f', 1) + " hz.";
       }
       setStatus(
         rviz_common::properties::StatusProperty::Ok,
         "Topic",
         topic_str);
   
       processMessage(msg);
     }
   
   
   
     virtual void processMessage(typename MessageType::ConstSharedPtr msg) = 0;
   
     uint32_t messages_received_;
   
     std::shared_ptr<image_transport::SubscriberFilter> subscription_;
     rclcpp::Time subscription_start_time_;
     message_filters::Connection subscription_callback_;
   };
   
   }  //  end namespace displays
   }  // end namespace rviz_default_plugins
   
   
   #endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISPLAY_HPP_